U.S. patent number 9,233,039 [Application Number 14/525,480] was granted by the patent office on 2016-01-12 for automated systems, devices, and methods for transporting and supporting patients.
This patent grant is currently assigned to Elwha LLC. The grantee listed for this patent is Elwha LLC. Invention is credited to Roderick A. Hyde, Stephen L. Malaska.
United States Patent |
9,233,039 |
Hyde , et al. |
January 12, 2016 |
Automated systems, devices, and methods for transporting and
supporting patients
Abstract
Systems, devices, and methods are described for moving a patient
to and from various locations, care units, etc., within a care
facility. For example a transport and support vehicle includes a
body structure including a plurality of rotatable members operable
to frictionally interface the vehicle to a travel path and to move
the vehicle along the travel path, and a surface structured and
dimensioned to support an individual subject. A transport and
support vehicle can include, for example, an imager operably
coupled to one or more of a power source, a steering assembly, one
or more of the plurality of rotatable members, etc., and having one
or more modules operable to control the power source, steering
assembly, one or more of the plurality of rotatable members, etc.,
so as to maintain an authorized operator in the image zone.
Inventors: |
Hyde; Roderick A. (Redmond,
WA), Malaska; Stephen L. (Redmond, WA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Elwha LLC |
Bellevue |
WA |
US |
|
|
Assignee: |
Elwha LLC (Bellevue,
WA)
|
Family
ID: |
49919296 |
Appl.
No.: |
14/525,480 |
Filed: |
October 28, 2014 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20150051784 A1 |
Feb 19, 2015 |
|
Related U.S. Patent Documents
|
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
|
13630531 |
Sep 28, 2012 |
8886383 |
|
|
|
13630087 |
Sep 28, 2012 |
|
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61G
1/0275 (20130101); A61G 1/0287 (20130101); A61G
7/0527 (20161101); G05D 1/0227 (20130101); A61G
1/0281 (20130101); G05D 1/0088 (20130101); G05D
1/027 (20130101); A61G 7/08 (20130101); G05D
1/0246 (20130101); A61G 7/0528 (20161101); G05D
1/0217 (20130101); G05D 1/0238 (20130101); G05D
1/0061 (20130101); G05D 1/0214 (20130101); G05D
1/021 (20130101); G05D 1/0016 (20130101); A61G
7/05 (20130101); G05D 1/0011 (20130101); G05D
1/0274 (20130101); G05D 1/0234 (20130101); Y10S
901/01 (20130101); G05D 2201/0206 (20130101); A61G
5/04 (20130101) |
Current International
Class: |
G05D
1/02 (20060101); G05D 1/00 (20060101); A61G
7/08 (20060101); A61G 1/02 (20060101); A61G
5/04 (20130101) |
Field of
Search: |
;701/23 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
|
|
|
|
|
|
|
WO 2012/093985 |
|
Jul 2012 |
|
WO |
|
Other References
"IAI Unveils Rex Unmanned Ground Vehicle at AUVSI"; Unmanned Ground
Vehicles (UGV) News; Mar. 22, 2012; 2 pages; located at
http://www.unmanned.co.uk/unmanned-vehicles-news/unmanned-ground-vehicles-
-ugv-news/iai-unveils-rex-unmanned-ground-vehicle-at-auvsi/. cited
by applicant .
Banad et al.; "Robotics and Computer Vision--Capstone Image Based
Person Following Robot Final Report"; rutgers.edu; May 2, 2011; pp.
1-30; located at
http://www.ece.rutgers.edu/.about.kdana/Capstone2011/Capstone.sub.--Desig-
n.sub.--Reports.sub.--files/Adarsh.sub.--Banad.sub.--Hardikkumar.sub.--Pat-
el.sub.--Amit.sub.--Sinha.sub.--Final.sub.--Reports.pdf. cited by
applicant .
PCT International Search Report; International App. No.
PCT/US2013/060564; Feb. 14, 2014; pp. 1-2. cited by applicant .
PCT International Search Report; International App. No.
PCT/US2013/060558; Feb. 14, 2014; pp. 1-2. cited by
applicant.
|
Primary Examiner: Camby; Richard
Parent Case Text
PRIORITY APPLICATIONS
The present application constitutes a continuation of U.S. patent
application Ser. No. 13/630,531, entitled AUTOMATED SYSTEMS,
DEVICES, AND METHODS FOR TRANSPORTING AND SUPPORTING PATIENTS,
naming RODERICK A. HYDE and STEPHEN L. MALASKA as inventors, filed
28 Sep. 2012, which is currently co-pending or is an application of
which a currently co-pending application is entitled to the benefit
of the filing date, and which is a continuation of U.S. patent
application Ser. No. 13/630,087, entitled AUTOMATED SYSTEMS,
DEVICES, AND METHODS FOR TRANSPORTING AND SUPPORTING PATIENTS,
naming RODERICK A. HYDE and STEPHEN L. MALASKA as inventors, filed
28 Sep. 2012.
If an Application Data Sheet (ADS) has been filed on the filing
date of this application, it is incorporated by reference herein.
Any applications claimed on the ADS for priority under 35 U.S.C.
.sctn..sctn.119, 120, 121, or 365(c), and any and all parent,
grandparent, great-grandparent, etc. applications of such
applications, are also incorporated by reference, including any
priority claims made in those applications and any material
incorporated by reference, to the extent such subject matter is not
inconsistent herewith.
CROSS-REFERENCE TO RELATED APPLICATIONS
The present application is related to and/or claims the benefit of
the earliest available effective filing date(s) from the following
listed application(s) (the "Priority Applications"), if any, listed
below (e.g., claims earliest available priority dates for other
than provisional patent applications or claims benefits under 35
USC .sctn.119(e) for provisional patent applications, for any and
all parent, grandparent, great-grandparent, etc. applications of
the Priority Application(s)). In addition, the present application
is related to the "Related Applications," if any, listed below.
RELATED APPLICATIONS
None
The United States Patent Office (USPTO) has published a notice to
the effect that the USPTO's computer programs require that patent
applicants reference both a serial number and indicate whether an
application is a continuation, continuation-in-part, or divisional
of a parent application. Stephen G. Kunin, Benefit of Prior-Filed
Application, USPTO Official Gazette Mar. 18, 2003. The USPTO
further has provided forms for the Application Data Sheet which
allow automatic loading of bibliographic data but which require
identification of each application as a continuation,
continuation-in-part, or divisional of a parent application. The
present Applicant Entity (hereinafter "Applicant") has provided
above a specific reference to the application(s) from which
priority is being claimed as recited by statute. Applicant
understands that the statute is unambiguous in its specific
reference language and does not require either a serial number or
any characterization, such as "continuation" or
"continuation-in-part," for claiming priority to U.S. patent
applications. Notwithstanding the foregoing, Applicant understands
that the USPTO's computer programs have certain data entry
requirements, and hence Applicant has provided designation(s) of a
relationship between the present application and its parent
application(s) as set forth above and in any ADS filed in this
application, but expressly points out that such designation(s) are
not to be construed in any way as any type of commentary and/or
admission as to whether or not the present application contains any
new matter in addition to the matter of its parent
application(s).
If the listings of applications provided above are inconsistent
with the listings provided via an ADS, it is the intent of the
Applicant to claim priority to each application that appears in the
Priority Applications section of the ADS and to each application
that appears in the Priority Applications section of this
application.
All subject matter of the Priority Applications and the Related
Applications and of any and all parent, grandparent,
great-grandparent, etc. applications of the Priority Applications
and the Related Applications, including any priority claims, is
incorporated herein by reference to the extent such subject matter
is not inconsistent herewith.
Claims
What is claimed is:
1. A self-guided patient-support and transport system, comprising:
one or more self-propelled patient-support and transport vehicles,
each self-propelled patient-support and transport vehicle including
a self-guided-vehicle navigation controller configured to determine
a position, velocity, acceleration, bearing, direction, or a
rate-of-change of bearing, or rate-of-change of direction of the
self-guided patient-support and transport vehicle and generate
self-guided patient-support and transport vehicle status
information; generate route-to-destination information based on one
or more target location inputs and the self-guided patient-support
and transport vehicle status information; and generate one or more
control commands for automatically navigating the self-guided
patient-support and transport vehicle to a second position along a
travel route based on the route-to-destination information.
2. An article of manufacture, comprising: a non-transitory
signal-bearing medium bearing: one or more instructions for
determining a position, velocity, acceleration, bearing, direction,
rate-of-change of bearing, or rate-of-change of direction of a
self-guided hospital bed; one or more instructions for generating
self-guided hospital bed status information; and one or more
instructions for generating route-to-destination information based
on one or more target location inputs and the self-guided hospital
bed status information.
3. The article of manufacture, of claim 2, further including: a
non-transitory signal-bearing medium bearing: one or more
instructions for generating one or more control commands for
navigating the self-guided hospital bed to a second position along
a travel route based on the route-to-destination information.
4. The article of manufacture, of claim 2, further including: a
non-transitory signal-bearing medium bearing: one or more
instructions for enabling at least one of remote control, manual
control, and automatic control of at least one of a propulsion
system, braking system, and steering system of the self-guided
hospital bed based on the position, velocity, acceleration,
bearing, direction, rate-of-change of bearing, or rate-of-change of
direction of the self-guided hospital bed.
5. The self-guided patient-support and transport system of claim 1,
further including: one or more sensors configured to detect one or
more travel path markings along a travel path and to generate
travel path markings information.
6. The self-guided patient-support and transport system of claim 1,
further including: at least one navigation controller.
7. The self-guided patient-support and transport system of claim 6,
wherein the navigation controller is configured to generate
route-to-destination information based on one or more target
location inputs and travel path markings information.
8. The self-guided patient-support and transport system of claim 6,
wherein the at least one navigation controller includes one or more
object sensors and is configured to maintain the bedframe structure
at a target separation from an object proximate the travel
path.
9. The self-guided patient-support and transport system of claim 8,
wherein the object proximate the travel path includes a wall.
10. The self-guided patient-support and transport system of claim
1, further including: at least one operator-authorization
device.
11. The self-guided patient-support and transport system of claim
10, wherein the operator-authorization device is operably coupled
to a navigation controller.
12. The self-guided patient-support and transport system of claim
10, wherein the operator-authorization device is configured to
generate one or more control commands for controlling one or more
of propulsion, braking, or steering responsive to one or more
sensors.
13. The self-guided patient-support and transport system of claim
1, further including: a virtual object generator operably coupled
to the operator-guide vehicle navigation controller and configured
to generate a virtual representation of the one or more navigation
control commands on a virtual display.
14. The self-guided patient-support and transport system of claim
1, further including: one or more optical sensors configured to
detect radiation reflected from one or more retro-reflector
elements along a travel path.
15. The self-guided patient-support and transport system of claim
1, further including a route-to-destination control module.
16. The self-guided patient-support and transport system of claim
15, wherein the route-to-destination control module includes a
patient-in-route circuit configured to acquire travel-route status
information, the travel-route status information to be acquired
including one or more of travel-route traffic information,
travel-route obstacle location information, travel-route map
information, or travel-route geographical location information; and
to generate updated route-to-destination information responsive to
the travel-route status information.
17. The self-guided patient-support and transport system of claim
15, wherein the wherein the route-to-destination control module
includes a patient-in-route circuit configured to report a
self-guided patient-support and transport vehicle location
information along target travel-route locations.
18. The self-guided patient-support and transport system of claim
15, wherein the route-to-destination control module includes a
patient-in-route circuit configured to report self-guided
patient-support and transport location arrival information.
19. The self-guided patient-support and transport system of claim
1, wherein the vehicle is configured for omni-directional
travel.
20. The self-guided patient-support and transport system of claim
1, further including: a travel-route status acquisition circuit
operable to acquire real-time travel-route status information, and
an alternate route-to-destination generation circuit operable to
generate route-to-destination information responsive to the
travel-route status information indicative of an adverse condition
present along the travel route.
21. The self-guided patient-support and transport system of claim
1, further including: one or more memory structures having travel
route information or object along travel route information stored
thereon.
22. The self-guided patient-support and transport system of claim
1, further including: a communication interface configured to
request real-time path traffic status information and to update the
route-to-destination information based on the response to the
request.
Description
SUMMARY
In an aspect, the present disclosure is directed to, among other
things, a vehicle for transporting an individual subject. In an
embodiment, the vehicle includes a body structure including a
plurality of rotatable members operable to frictionally interface
the vehicle to a travel path and to move the vehicle along the
travel path, and a surface structured and dimensioned to support an
individual subject. In an embodiment, the vehicle includes a
steering assembly operably coupled to at least one of the rotatable
members. In an embodiment, the vehicle includes a power source
operably coupled to one or more of the plurality of rotatable
members and configured to rotate at least one of the plurality of
rotatable members. In an embodiment, the vehicle includes an imager
operable to image a person within an image zone, and a verification
module for determining whether the person in the image zone is an
authorized operator of the vehicle. In an embodiment, the imager is
operably coupled to the power source and the body structure, the
imager including one or more modules having circuitry operable to
control the power source and steering assembly so as to maintain
the authorized operator in the image zone.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled operator-guided bed. In an embodiment, the
self-propelled operator-guided bed includes an
operator-authorization device having a communication interface that
acquires operator-guide verification information from an
identification device associated with an operator-guide. In an
embodiment, the operator-authorization device includes one or more
tracking sensors operable to track one or more locations of the
identification device. In an embodiment, the operator-authorization
device includes one or more tracking sensors operable to track
information associated with the operator-guide and the
identification device carried by, worn by, affixed to the operator,
or the like. In an embodiment, the self-propelled operator-guided
bed includes a bedframe structure (e.g., a bed, a bedframe, a
steerable bed, a steerable bedframe, and the like) having a surface
configured (e.g., arranged, adapted, constructed, dimensioned,
sized, structured, having structures, etc.) to support a
patient.
In an embodiment, the bedframe structure is operably coupled to a
transport assembly having a plurality of rotatable members operable
to frictionally interface the self-propelled operator-guided bed to
a travel path and to move the self-propelled operator-guided bed
along the travel path. In an embodiment, the self-propelled
operator-guided bed includes a steering assembly operable to vary a
steering angle, an orientation, a velocity, etc., of at least one
of the plurality of rotatable members. In an embodiment, the
self-propelled operator-guided bed includes a powertrain having a
power source, motor, transmission, drive shafts, differentials, a
final drive etc., for driving one or more of the plurality of
rotatable members. In an embodiment, the self-propelled
operator-guided bed includes a navigation controller operably
coupled to the operator-authorization device and the bedframe
structure. In an embodiment, the navigation controller includes a
module having circuitry operable to provide a control signal to
navigate the bedframe structure along a travel path based on one or
more detected locations of the identification device.
In an aspect, the present disclosure is directed to, among other
things, a vehicle for transporting an individual subject. In an
embodiment, the vehicle includes a body structure, an
operator-authorization device, and an imager. In an embodiment, the
body structure includes a surface so dimensioned, configured, and
arranged to be adapted to support an individual subject, and a
plurality of rotatable members operable to frictionally interface
the vehicle to a travel path and to move the vehicle along the
travel path. In an embodiment, the operator-authorization device
includes an input interface operable to acquire verification
information associated with an operator (e.g., a guide, a human
operator, an operator, or the like), the operator being different
from the individual subject. In an embodiment, the
operator-authorization device includes a verification module for
determining whether the operator is an authorized operator. In an
embodiment, the imager includes one or more modules having
circuitry for operably coupling the imager to at least one of the
power source and the steering assembly, and for operating the power
source and steering assembly so as to maintain the authorized
operator in the image zone based on one or more inputs from the
imager. In an embodiment, the vehicle includes a power source
operably coupled to one or more of the plurality of rotatable
members.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled operator-guided vehicle system. In an
embodiment, the self-propelled operator-guided vehicle system
includes one or more self-propelled operator-guided vehicles, each
including a bedframe structure having a surface configured to
support a patient. In an embodiment, the bedframe structure
includes a transport assembly having a plurality of rotatable
members operable to frictionally interface the vehicle to a travel
path and to move the vehicle along the travel path. In an
embodiment, the self-propelled operator-guided vehicle system
includes a navigation system configured to vary one or more of
propulsion, braking, or steering angle of at least one of the
plurality of rotatable members.
In an embodiment, the self-propelled operator-guided vehicle system
includes an operator-authorization device operably coupled to the
transport assembly and having one or more sensors and a
communication interface. In an embodiment, the one or more sensors
are operable to detect an operator-guide identification device
associated with an operator-guide. In an embodiment, the
communication interface is configured to acquire operator-guide
verification information from the operator-guide identification
device. In an embodiment, the operator-authorization device is
configured to acquire information indicative of at least one of an
operator-guide authorization status, an operator-guide location, an
operator-guide identity, an operator-guide reference physical
movement, access status, and the like. In an embodiment, the
operator-authorization device is configured to generate one or more
control commands for causing the transport assembly to maintaining
the self-propelled operator-guided vehicle at a target separation
from the authorized operator-guide identification device, based on
the at least one of the operator-guide authorization status, the
operator-guide identity, and the operator-guide reference physical
movement information.
In an aspect, the present disclosure is directed to, among other
things, an article of manufacture including a non-transitory
signal-bearing medium bearing one or more instructions for causing
a system, computing device, processor, etc., to detect an
operator-guide identification device associated with
operator-guide. In an embodiment, the article of manufacture
includes a non-transitory signal-bearing medium bearing one or more
instructions for causing a system, computing device, processor,
etc., to acquire operator-guide verification information from the
operator-guide identification device. In an embodiment, the
operator-guide verification information to be acquired includes
information indicative of at least one of an operator-guide
authorization status, an operator-guide identity, and an
operator-guide reference guidance information. In an embodiment,
the article of manufacture includes a non-transitory signal-bearing
medium bearing one or more instructions for causing a system,
computing device, processor, etc., to generate one or more control
commands for maintaining a self-propelled operator-guided vehicle
at target separation from the operator-guide identification device.
In an embodiment, the article of manufacture includes a
non-transitory signal-bearing medium bearing one or more
instructions for causing a system, computing device, processor,
etc., to detect a location of the operator-guide identification
device associated with the operator-guide. In an embodiment, the
article of manufacture includes a non-transitory signal-bearing
medium bearing one or more instructions for causing a system,
computing device, processor, etc., to generate one or more control
commands for maintaining the self-propelled operator-guided vehicle
at a target separation from the operator-guide identification
device responsive to a change of location of the operator-guide
identification device relative to the self-propelled
operator-guided vehicle.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled operator-guided vehicle for transporting
and supporting at least one individual subject. In an embodiment,
the self-propelled operator-guided vehicle includes an
operator-authorization device having one or more image sensors. In
an embodiment, the one or more image sensors are operable to
acquire image information of an operator within an operator-guide
zone. In an embodiment, the self-propelled operator-guided vehicle
includes a verification module for determining whether the operator
is an authorized operator based on the image information. In an
embodiment, the self-propelled operator-guided vehicle includes a
bedframe structure having a surface configured to support an
individual subject, and a transport assembly having a plurality of
rotatable members operable to frictionally interface a
self-propelled operator-guided vehicle to a travel path and to move
the vehicle along the travel path. In an embodiment, the
self-propelled operator-guided vehicle includes a steering assembly
operable to vary a steering angle, an orientation, a velocity,
etc., of at least one of the plurality of rotatable members.
In an embodiment, the self-propelled operator-guided vehicle
includes a power source and a motor for driving one or more of the
plurality of rotatable members. In an embodiment, the
self-propelled operator-guided vehicle includes an operator-guided
vehicle navigation controller operably coupled to at least one of
the operator-authorization device, the steering assembly, the power
source, and the motor. In an embodiment, the operator-guided
vehicle navigation controller includes a control command module
operable to determine physical movement information from the image
information. In an embodiment, the operator-guided vehicle
navigation controller includes a control command module operable to
map one or more detected physical movements of the authorized
operator within the operator-guide zone to at least one input
correlated with one or more navigation control commands for
controlling the self-propelled operator-guided vehicle, based on
the physical movement information.
In an aspect, the present disclosure is directed to, among other
things, an article of manufacture including a non-transitory
signal-bearing medium bearing one or more instructions for
acquiring physical movement image information of an operator within
an operator-guide zone. In an embodiment, the article of
manufacture includes a non-transitory signal-bearing medium bearing
one or more instructions for determining operator-guide
verification information for the operator within the operator-guide
zone based on the physical movement image information. In an
embodiment, the article of manufacture includes a non-transitory
signal-bearing medium bearing one or more instructions for mapping
one or more detected physical movements of the operator within the
operator-guide zone to at least one input correlated with one or
more navigation control commands for controlling a self-propelled
operator-guided bed.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled hospital bed navigation control system
including an operator-guided vehicle navigation controller. In an
embodiment, the operator-guided vehicle navigation controller
includes one or more sensors operable to detect at least one
operator within an operator-guide zone associated with a
self-propelled operator-guided hospital bed. In an embodiment, the
self-propelled operator-guided hospital bed includes a bedframe
structure having a surface configured to support an individual
subject. In an embodiment, the self-propelled operator-guided
hospital bed includes a plurality of rotatable members operable to
frictionally interface the vehicle to a travel path and to move the
vehicle along the travel path. In an embodiment, the self-propelled
operator-guided hospital bed includes a steering assembly operable
to vary a steering angle, an orientation, a velocity, etc., of at
least one of the plurality of rotatable members. In an embodiment,
the self-propelled operator-guided hospital bed includes a power
source and a motor for driving one or more of the plurality of
rotatable members. In an embodiment, the self-propelled hospital
bed navigation control system includes an operator movement mapping
module operably coupled to the operator-guided vehicle navigation
controller and to at least one of the plurality of rotatable
members, the power source, and the motor.
In an embodiment, the operator movement mapping module is
configured to map one or more detected physical movements of the
operator within the operator-guide zone to at least one input
correlated with one or more navigation control commands for
controlling the self-propelled operator-guided vehicle. In an
embodiment, the operator movement mapping module is configured to
generate a control signal to at least one of the plurality of
rotatable members, the power source, a braking mechanism, and the
motor to navigate the self-propelled operator-guided vehicle based
on the one or more navigation control commands.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled hospital bed including an operator-guided
vehicle navigation controller having an audio-activated control
module operable to receive an audio input. In an embodiment, the
self-propelled hospital bed includes a bedframe structure operably
coupled to the operator-guided vehicle navigation controller. In an
embodiment, the bedframe structure includes a surface configured to
support an individual subject, and a plurality of rotatable members
operable to frictionally interface the self-propelled hospital bed
to a travel path and to move the vehicle along the travel path. In
an embodiment, the self-propelled hospital bed includes a bedframe
structure having a steering assembly operable to vary a steering
angle, an orientation, a velocity, etc., of at least one of the
plurality of rotatable members. In an embodiment, the
self-propelled hospital bed includes a bedframe structure having a
power source, and a motor for driving one or more of the plurality
of rotatable members. In an embodiment, the operator-guided vehicle
navigation controller includes an audio input mapping module having
circuitry operable to correlate an audio input to at least one
navigation control command for controlling at least one of
propulsion, braking, and steering of the self-propelled hospital
bed.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled hospital bed controller system, including
an operator-guided vehicle navigation controller. In an embodiment,
the operator-guided vehicle navigation controller includes an
audio-activated control module having one or more transducers
operable to receive an audio input. In an embodiment, the
operator-guided vehicle navigation controller includes an audio
input mapping module having circuitry operable to correlate an
audio input to at least one navigation control command for
controlling at least one of propulsion, braking, and steering of
the self-propelled hospital bed. In an embodiment, the
operator-guided vehicle navigation controller includes a speech
recognition control module operable to receive speech input. In an
embodiment, the operator-guided vehicle navigation controller
includes a voice control module operable to receive a voice
input.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled, operator-guided vehicle for transporting
and supporting at least one individual subject including an
operator-guide verification and navigation controller having one or
more sensors operable to acquire at least one digital image of an
operator within an operator-guide zone. In an embodiment, the
self-propelled hospital bed includes an operator-guide verification
operably coupled to a navigation controller. In an embodiment,
navigation controller includes one or more modules having circuitry
operable to control a power source, a steering assembly, or the
like so as to maintain the self-propelled hospital bed along a
travel route.
In an embodiment, the body structure includes a surface configured
to support an individual subject, the body structure including at
least three wheels and a steering assembly. In an embodiment, the
self-propelled hospital bed includes a power source operably
coupled to one or more of the at least three wheels. In an
embodiment, the operator-guide verification and navigation
controller includes a module having circuitry operable to map one
or more detected physical movements of the operator within the
operator-guide zone, and imaged in the at least one digital image,
to at least one input correlated with one or more navigation
control commands for controlling the self-propelled operator-guided
vehicle.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled operator-guided vehicle control system
including an operator-authorization device having one or more
sensors operable to detect one or more physical movements of the
operator within the operator-guide zone. In an embodiment, the
operator-authorization device is operably coupled to one or more
sensors and configured to detect a location of the operator within
the operator-guide zone.
In an embodiment, the self-propelled operator-guided vehicle
control system includes a self-propelled operator-guided vehicle
navigation controller having circuitry operable to provide a
control signal to map the one or more detected physical movements
of the operator within the operator-guide zone to at least one
input correlated with one or more navigation control commands for
controlling the self-propelled operator-guided vehicle. In an
embodiment, the self-propelled operator-guided vehicle navigation
controller includes circuitry operable to navigate a self-propelled
operator-guided vehicle based on the one or more navigation control
commands.
In an aspect, the present disclosure is directed to, among other
things, a self-propelled operator-guided vehicle capable of
transporting and supporting at least one person and operable to
identify, follow, monitor, etc., an operator within an
operator-guide zone using real-time automatic image recognition. In
an embodiment, the self-propelled operator-guided vehicle is
operably coupled to a real-time object recognition device. In an
embodiment, the real-time object recognition device is configured
to identify groups of pixels indicative of one or more physical
movements associated with an operator within an operator-guide zone
imaged in the at least one digital image. In an embodiment, the
real-time object recognition device is configured to generate one
or more connected components of a graph representative of groups of
pixels indicative of the one or more physical movements associated
with the operator imaged in the at least one digital image. In an
embodiment, the real-time object recognition device is configured
to correlate the one or more connected components of the graph to
at least one input associated with one or more navigation control
commands for controlling the self-propelled operator-guided
vehicle.
In an aspect, the present disclosure is directed to, among other
things, a self-guided, patient support and transport vehicle
including a self-guided-vehicle navigation controller. In an
embodiment, the self-guided-vehicle navigation controller includes
a route-to-destination control module having circuitry operable to
generate route-to-destination information based on one or more
patient verification inputs. In an embodiment, the self-guided
patient-support and transport vehicle includes a body structure
including a surface configured to support an individual, a
transport assembly, a steering assembly, a power source, and a
motor. In an embodiment, the transport assembly includes a
plurality of rotatable members operable to frictionally interface
the vehicle to a travel path and to move the vehicle along the
travel path. In an embodiment, the steering assembly is configured
to vary a steering angle, an orientation, a velocity, etc., of at
least one of the plurality of rotatable members. In an embodiment,
the motor is operable to drive one or more of the plurality of
rotatable members. In an embodiment, the self-guided
patient-support and transport vehicle navigation controller is
operably coupled to at least one of the plurality of rotatable
members, the power source, and the motor, and configured to
generate one or more control commands for navigating the
self-guided patient-support and transport vehicle to at least a
first target location along a travel route based on the
route-to-destination information.
In an aspect, the present disclosure is directed to, among other
things, a self-guided patient-support and transport system
including one or more self-propelled patient-support and transport
vehicles. In an embodiment, each self-propelled patient-support and
transport vehicle includes a self-guided-vehicle navigation
controller configured to determine position, velocity,
acceleration, bearing, direction, rate-of-change of bearing,
rate-of-change of direction, etc., of the self-guided
patient-support and transport vehicle. In an embodiment, each
self-propelled patient-support and transport vehicle includes a
self-guided-vehicle navigation controller configured to generate
self-guided patient-support and transport vehicle status
information based on at least one of a determined position,
velocity, acceleration, bearing, direction, rate-of-change of
bearing, rate-of-change of direction, etc., of the self-guided
patient-support and transport vehicle. In an embodiment, each
self-propelled patient-support and transport vehicle includes a
self-guided-vehicle navigation controller configured to generate
route-to-destination information based on one or more target
location inputs and the self-guided patient-support and transport
vehicle status information. In an embodiment, each self-propelled
patient-support and transport vehicle includes a
self-guided-vehicle navigation controller configured to generate
one or more control commands for automatically navigating the
self-guided patient-support and transport vehicle to a second
position along a travel route based on the route-to-destination
information.
In an aspect, the present disclosure is directed to, among other
things, an article of manufacture including a non-transitory
signal-bearing medium bearing one or more instructions that cause a
system, computing device, processor, etc., to determine a position,
velocity, acceleration, bearing, direction, rate-of-change of
bearing, rate-of-change of direction, etc., of a self-guided
hospital bed. In an embodiment, the article of manufacture includes
a non-transitory signal-bearing medium bearing one or more
instructions for generating self-guided hospital bed status
information. In an embodiment, the article of manufacture includes
a non-transitory signal-bearing medium bearing one or more
instructions for generating route-to-destination information based
on one or more target location inputs and the self-guided hospital
bed status information.
In an aspect, the present disclosure is directed to, among other
things, a remotely guided, omnidirectional, self-propelled
patient-support vehicle including a vehicle navigation controller
having a communication module. In an embodiment, the communication
module includes at least one of a receiver, a transmitter, and a
transceiver operable to communicate with a remote navigation
network and to receive control command information (e.g.,
route-to-destination data, navigation data, location based control
commands, etc.) from the remote navigation network. In an
embodiment, a remotely guided, omnidirectional, self-propelled
patient-support vehicle includes a route-status module including
circuitry operable to provide one or more of travel route image
information, patient-support vehicle geographic location
information, patient-support vehicle travel direction information,
patient-support vehicle travel velocity information,
patient-support vehicle propulsion information, or patient-support
vehicle braking information.
In an embodiment, a remotely guided, omnidirectional,
self-propelled patient-support vehicle includes a body structure
operably coupled to the vehicle navigation controller. In an
embodiment, the body structure includes a surface configured to
support a patient. In an embodiment, the body structure includes a
plurality of rotatable members operable to frictionally the
patient-support vehicle to a travel path and to move the
patient-support vehicle along the travel path In an embodiment, the
body structure is operably coupled to a steering assembly operable
to vary a steering angle, an orientation, a velocity, etc., of at
least one of the plurality of rotatable members. In an embodiment,
the self-propelled patient-support vehicle includes a power source
operably coupled to one or more of the plurality of rotatable
members and a motor operable to drive one or more of the plurality
of rotatable members. In an embodiment, the vehicle navigation
controller includes a patient destination module for generating one
or more control commands for navigating a remotely guided
self-propelled patient-support vehicle to at least a first patient
destination along a patient travel route based on the control
command information from the remote navigation network. In an
embodiment, a power source is operably coupled to one or more of
the plurality of rotatable members and configured to rotate at
least one of the plurality of rotatable members based on the
control command information from the remote navigation network.
In an aspect, the present disclosure is directed to, among other
things, a remotely guided self-propelled patient-support vehicle
including a body structure configured to support a patient in need
of transport. In an embodiment, the body structure is operably
coupled to a transport assembly including a steering assembly and a
power train. In an embodiment, the remotely guided self-propelled
patient-support vehicle includes a navigation controller having a
communication interface. In an embodiment, the communication
interface includes at least one of a receiver, a transmitter, and a
transceiver operable to communicate with a remote navigation
network. In an embodiment, the communication interface includes at
least one of a receiver, a transmitter, and a transceiver operable
to receive travel-route information and at least one of propulsion
control command information, braking command information, and
steering command information from the remote navigation network. In
an embodiment, the communication interface includes at least one of
a receiver, a transmitter, and a transceiver operable to receive
travel-route information necessary to reach a patient destination
along a patient travel route. In an embodiment, the vehicle
navigation controller is operably coupled to at least one of the
transport assembly, the steering assembly, and the power train and
configured to generate at least one navigation control command for
controlling at least one of propulsion, braking, and steering of a
remotely guided self-propelled patient-support vehicle based on the
propulsion control command information, the braking command
information, or the steering command information from the remote
navigation network.
The foregoing summary is illustrative only and is not intended to
be in any way limiting. In addition to the illustrative aspects,
embodiments, and features described above, further aspects,
embodiments, and features will become apparent by reference to the
drawings and the following detailed description.
BRIEF DESCRIPTION OF THE FIGURES
FIG. 1 is a perspective view of a system including a vehicle for
transporting an individual subject according to one embodiment.
FIG. 2 is a perspective view of a system including a vehicle for
transporting an individual subject according to one embodiment.
FIG. 3 is a perspective view of a system including a vehicle for
transporting an individual subject according to one embodiment.
FIG. 4 shows a schematic diagram of an article of manufacture
according to one embodiment.
FIG. 5 shows a schematic diagram of an article of manufacture
according to one embodiment.
FIG. 6 shows a schematic diagram of an article of manufacture
according to one embodiment.
DETAILED DESCRIPTION
In the following detailed description, reference is made to the
accompanying drawings, which form a part hereof. In the drawings,
similar symbols typically identify similar components, unless
context dictates otherwise. The illustrative embodiments described
in the detailed description, drawings, and claims are not meant to
be limiting. Other embodiments may be utilized, and other changes
may be made, without departing from the spirit or scope of the
subject matter presented here.
FIG. 1 shows a system 100 (e.g., an operator-guided vehicle system,
a self-guided patient-support and transport system, a
self-propelled operator-guided vehicle system, a remotely guided
patient-support vehicle system, a self-propelled operator-guided
vehicle system, a remotely guided, omnidirectional, self-propelled
patient-support vehicle system, etc.), in which one or more
methodologies or technologies can be implemented such as, for
example, an automated vehicle system for transporting and
physically supporting patients, an automated patient transport
system that responds to an operator guide, a self-propelled
hospital bed system, a self-propelled hospital bed system employing
image-based navigation, a remotely guided hospital bed system, a
remote-controlled patient transport systems, or the like.
In an embodiment, the system 100 includes a transport and support
vehicle 102 (e.g., a bed, a gurney, a stretcher, a wheelchair,
etc.) for transporting an individual subject (e.g., a patient, a
human subject, an animal subject, etc.). For example, in an
embodiment, the system 100 includes a transport and support vehicle
102 for transporting a patient from at least a first location to a
second location. In an embodiment, the system 100 includes a
transport and support vehicle 102 for transporting one or more
individual subjects to, from, or within a facility (e.g., a
healthcare provider facility, a hospital, a home, a room, etc.), or
the like.
In an embodiment, the transport and support vehicle 102 includes a
body structure 104 (e.g., a vehicle structure, a bed structure, a
bedframe, a steerable body structure, a steerable bed, etc.)
including a surface 106 arranged and dimensioned to support an
individual subject. For example, in an embodiment, the body
structure 104 includes one or more mattress 108, bed decks, patient
support structures, body part posturing devices, etc., arranged and
dimensioned to support an individual subject.
In an embodiment, the transport and support vehicle 102 includes a
plurality of rotatable members 110 operable to frictionally
interface the vehicle to a travel path and to move the vehicle
along the travel path. Non-limiting examples of rotatable members
110 include wheels 112, casters, ball rollers, continuous tracks,
drive wheels, steer wheels, propellers, or the like. In an
embodiment, rotatable members 110 include one or more of motors,
rotors, hubs, cranks, sprockets, brake assemblies, bearing
assemblies, etc. In an embodiment, the transport and support
vehicle 102 includes one or more wheels 112. In an embodiment, the
transport and support vehicle 102 includes one or more wheels 112,
each wheel having an electric wheel hub motor 114. In an
embodiment, the pluralities of rotatable members 110 include one or
more brushless electric motors. In an embodiment, one or more of
the rotatable members 110 are operably coupled to one or more
actuators that use an electrical current or magnetic actuating
force to vary the motion of a rotating component (e.g., an actuator
that rotates an axle coupled to the wheel to give it steering, an
actuator that activates a rotating component forming part of an
electric brake system, a magnetic bearing, a magnetic torque
device, a brushless electric motor, etc. to vary velocity,
etc.).
In an embodiment, the transport and support vehicle 102 includes a
power source 116 and a motor 118 operably coupled one or more of
the plurality of rotatable members 110, and configured to drive one
or more of the plurality of rotatable members 110. In an
embodiment, the transport and support vehicle 102 includes a
powertrain 120 operably coupled to a power source 116. In an
embodiment, the powertrain 120 is configured to supply power to one
or more power train components to generate power and deliver it to
a travel path surface. Non-limiting examples of powertrain
components include motors, engines, transmissions, drive-shafts,
differentials, drive rotatable members, final drive assemblies, or
the like. In an embodiment, the transport and support vehicle 102
includes one or more powertrains 120. In an embodiment, the
transport and support vehicle 102 includes a powertrain 120
operably coupled to a plurality of rotatable members 110 and
configured to cause a change in position, acceleration, direction,
momentum, or the like, of the transport and support vehicle
102.
In an embodiment, each rotatable member 110 is operably coupled to
a respective powertrain 120 and a steering assembly 126. In an
embodiment, each rotatable member 110 can be controlled separately.
For example, in an embodiment, a steering angle, an orientation, a
velocity, etc., can be controlled separately for each rotatable
member 110. In an embodiment, a rotatable member 110 is operably
coupled to at least a first electromagnetic motor that drives a
rotatable member 110 and a second electromagnetic motor that can
steer the rotatable member 110. In an embodiment, each of the
first, second, third electromagnetic motor, etc., can be separately
controlled for precise movement. In an embodiment, each
electromagnetic motor is powered by a battery. In an embodiment a
plurality of electromagnetic motors is powered by a single
battery.
In an embodiment, one or more of the rotatable members 110 are
operably coupled to one or more actuator devices that use an
electrical current or magnetic actuating force to vary the motion
of a rotating component (e.g., an actuator that rotates an axle
coupled to a rotatable member 110 to give it steering, an actuator
that activates a rotating component forming part of an electric
brake system, actuator devices that use an electrical current or
magnetic actuating force to control a magnetic bearing, a magnetic
torque device, a brushless electric motor, etc. to vary velocity,
etc.).
In an embodiment, the transport and support vehicle 102 includes
one or more drive rotatable members 110 operable to receive torque
from the powertrain 120. For example, in an embodiment, during
operation, one or more drive wheels provide a driving force for the
transport and support vehicle 102. In an embodiment, the transport
and support vehicle 102 takes the form of a multi-wheel drive
transport and support vehicle. For example, in an embodiment, the
transport and support vehicle 102 includes a two-wheel drive
transport and support vehicle having two driven wheels. In an
embodiment, the transport and support vehicle 102 takes the form of
a two-wheel drive vehicle, a four-wheel drive vehicle, an all-drive
vehicle, or the like. In an embodiment, the transport and support
vehicle 102 is configured for omni-directional travel.
In an embodiment, the transport and support vehicle 102 includes
one or more drive control modules 122. In an embodiment, a module
includes, among other things, one or more computing devices such as
a processor (e.g., a microprocessor), a central processing unit
(CPU), a digital signal processor (DSP), an application-specific
integrated circuit (ASIC), a field programmable gate array (FPGA),
or the like, or any combinations thereof, and can include discrete
digital or analog circuit elements or electronics, or combinations
thereof. In an embodiment, a module includes one or more ASICs
having a plurality of predefined logic components. In an
embodiment, a module includes one or more FPGAs, each having a
plurality of programmable logic components.
In an embodiment, the drive control modules 122 includes a module
having one or more components operably coupled (e.g.,
communicatively, electromagnetically, magnetically, ultrasonically,
optically, inductively, electrically, capacitively coupled, or the
like) to each other. In an embodiment, a module includes one or
more remotely located components. In an embodiment, remotely
located components are operably coupled, for example, via wireless
communication. In an embodiment, remotely located components are
operably coupled, for example, via one or more receivers 132,
transmitters 134, transceivers 136, or the like. In an embodiment,
the drive control module 122 includes a module having one or more
routines, components, data structures, interfaces, and the
like.
In an embodiment, a module includes memory that, for example,
stores instructions or information. For example, in an embodiment,
at least one control module includes memory that stores
operator-guide verification information, operator-guide
identification information, operator-guide registration
information, patient identification information, navigation plan
information, travel path markings information, travel-route status
information, vehicle status information, travel-route status
information, etc. Non-limiting examples of memory include volatile
memory (e.g., Random Access Memory (RAM), Dynamic Random Access
Memory (DRAM), or the like), non-volatile memory (e.g., Read-Only
Memory (ROM), Electrically Erasable Programmable Read-Only Memory
(EEPROM), Compact Disc Read-Only Memory (CD-ROM), or the like),
persistent memory, or the like. Further non-limiting examples of
memory include Erasable Programmable Read-Only Memory (EPROM),
flash memory, or the like. In an embodiment, the memory is coupled
to, for example, one or more computing devices by one or more
instructions, information, or power buses. In an embodiment, the
drive control module 122 includes memory that, for example, stores
operator-guide identification information, travel-route status
information, or the like. In an embodiment, the
operator-authorization device 130 includes memory that, for
example, stores object tracking information, operator-zone
registration information, control command information, gesture
information, or the like.
In an embodiment, a module includes one or more computer-readable
media drives, interface sockets, Universal Serial Bus (USB) ports,
memory card slots, or the like, and one or more input/output
components such as, for example, a graphical user interface, a
display, a keyboard, a keypad, a trackball, a joystick, a
touch-screen, a mouse, a switch, a dial, or the like, and any other
peripheral device. In an embodiment, a module includes one or more
user input/output components that are operably coupled to at least
one computing device configured to control (electrical,
electromechanical, software-implemented, firmware-implemented, or
other control, or combinations thereof) at least one parameter
associated with, for example, controlling one or more of driving,
navigating, braking, or steering the transport and support vehicle
102.
In an embodiment, a module includes a computer-readable media drive
or memory slot that is configured to accept signal-bearing medium
(e.g., computer-readable memory media, computer-readable recording
media, or the like). In an embodiment, a program for causing a
system to execute any of the disclosed methods can be stored on,
for example, a computer-readable recording medium (CRMM), a
signal-bearing medium, or the like. Non-limiting examples of
signal-bearing media include a recordable type medium such as a
magnetic tape, floppy disk, a hard disk drive, a Compact Disc (CD),
a Digital Video Disk (DVD), Blu-Ray Disc, a digital tape, a
computer memory, or the like, as well as transmission type medium
such as a digital or an analog communication medium (e.g., a fiber
optic cable, a waveguide, a wired communications link, a wireless
communication link (e.g., receiver 132, transmitter 134,
transceiver 136, transmission logic, reception logic, etc.).
Further non-limiting examples of signal-bearing media include, but
are not limited to, DVD-ROM, DVD-RAM, DVD+RW, DVD-RW, DVD-R, DVD+R,
CD-ROM, Super Audio CD, CD-R, CD+R, CD+RW, CD-RW, Video Compact
Discs, Super Video Discs, flash memory, magnetic tape,
magneto-optic disk, MINIDISC, non-volatile memory card, EEPROM,
optical disk, optical storage, RAM, ROM, system memory, web server,
or the like.
In an embodiment, the transport and support vehicle 102 is operably
coupled to one or more rotatable members 110 having a braking
system. The braking system can include, but is not limited to, a
disc brake system, an electronic brake system, a drum brake system,
or the like. In an embodiment, the transport and support vehicle
102 is operably coupled to one or more rotatable members 110 having
a regenerative brake system. In an embodiment, the transport and
support vehicle 102 is operably coupled to one or more brake
control modules 124.
In an embodiment, the transport and support vehicle 102 is operably
coupled to steering assembly 126 having one or more modules,
mechanisms, components, linkages, steering gear assemblies, or the
like operable to steer the transport and support vehicle 102. In an
embodiment, the steering assembly 126 is operable to vary a
steering angle, an orientation, a velocity, etc., of at least one
of a plurality of rotatable members 110. For example, in an
embodiment, the transport and support vehicle 102 is operably
coupled to steering assembly 126 having one or more
electro-mechanical elements operable to vary a steering angle, an
orientation, a velocity, etc., of at least one of a plurality of
rotatable members 110. In an embodiment, the steering assembly 126
is operable to vary a steering angle, an orientation, a velocity,
etc., of at least one of a plurality of wheels 112. In an
embodiment, the transport and support vehicle 102 is operably
coupled to steering assembly 126 having one or more components
linkages, steering gear assemblies, rod assemblies, or the like
that aid in directing the transport and support vehicle 102 along a
target course. In an embodiment, the transport and support vehicle
102 is operably coupled to steering assembly 126 having one or more
actuators, electric wheel hub motors, magnetic bearings, magnetic
torque devices, brushless electric motors, or the like that aid in
directing the transport and support vehicle 102 along a target
course.
In an embodiment, for example, the transport and support vehicle
102 is operably coupled to one or more steer wheels operable to
change direction of the transport and support vehicle 102. In an
embodiment, the steering assembly 126 is operably coupled to power
steering assembly.
In an embodiment, the steering assembly 126 includes one or more
sensors 150 (e.g., yaw-rate sensors, angular velocity sensors,
steering angle sensors, wheel speed sensors, position sensors,
etc.). For example, in an embodiment, the steering assembly 126
includes a steering sensor operable to detect a steering angle,
orientation, etc., associated with a steered one of the plurality
of rotatable members 110. In an embodiment, the steering assembly
126 includes a vehicle velocity sensor operable to detect a
velocity of the transport and support vehicle 102. In an
embodiment, the steering assembly 126 is operably coupled to
vehicle acceleration sensor operable to detect an acceleration of
the vehicle. In an embodiment, the steering assembly 126 is
operably coupled to vehicle position sensor operable to detect a
geographical location of the vehicle. In an embodiment, the
steering assembly 126 is operably coupled to rotational rate sensor
operable to detect a rate of rotation of the transport and support
vehicle 102.
In an embodiment, the transport and support vehicle 102 includes at
least three wheels 112, and the steering assembly 126 is operable
to vary a steering angle, an orientation, a velocity, etc., of at
least one of the at least three wheels 112. In an embodiment, the
transport and support vehicle 102 includes one or more steering
control modules 128. For example, in an embodiment, the transport
and support vehicle 102 includes one or more steering control
modules 128 having circuitry operable to vary a steering angle, an
orientation, a velocity, etc., of at least one of the plurality of
rotatable members 110.
In an embodiment, the transport and support vehicle 102 includes an
imager 138 operable to locate an operator (e.g., an authorized
operator 140, an off-board operator, an off-board guide, an
operator different from the on-board patient, or the like) within
operator-guide zone 142 (e.g., an image zone, or the like). In an
embodiment, the imager 138 is operably coupled to a power source,
such as the power source 116, and the body structure 104, and
includes one or more modules having circuitry operable to operate
the power source 116 and steering assembly 126 so as to maintain
the transport and support vehicle 102 at a target separation from
an authorized operator within operator-guide zone 142. In an
embodiment, the steering assembly 126 is communicatively coupled,
physically coupled, electromagnetically coupled, magnetically
coupled, ultrasonically coupled, optically coupled, inductively
coupled, electrically coupled, capacitively coupled, wirelessly
coupled, or the like) to the imager 138 and is configured to vary a
vehicle heading based on one or more inputs from the imager
indicative of a change in position by the authorized operator 140.
In an embodiment, the steering assembly 126 is communicatively
coupled to the imager 138 and is configured to vary a vehicle
heading based on a change in position by the authorized operator
140. In an embodiment, the steering assembly 126 is communicatively
coupled to the imager 138 and is operable to control a direction of
travel based on one or more inputs from the imager indicative of a
sensed change in position by the authorized operator 140. In an
embodiment, the steering assembly 126 is operable to vary a
steering angle, an orientation, a velocity, etc., of at least one
of a plurality of rotatable members 110 based on a change in
position by the authorized operator 140.
In an embodiment, the imager 138 includes a camera and a
facial-recognition module including circuitry configured to locate,
identify, authorize, etc., an operator within an operator-guide
zone 142. For example, in an embodiment, the imager 138 includes
one or more modules having circuitry, such as, one or more sensor
150 (e.g., optical sensors, cameras, radiofrequency sensors,
three-dimensional sensors (e.g., 3-D sensors operable to capture
information about the shape of a face, etc.) or the like) operable
to acquire image information. In an embodiment, during operation,
the imager 138 determines an individual's identity by detecting and
analyzing distinct features of an individual's face surface (e.g.,
structural features of the eye sockets, chin, nose, etc.). In an
embodiment, the imager 138 includes three-dimensional sensor-based
face recognition modalities. For example, in an embodiment, the
imager 138 includes one or more infrared light sensor operable to
measures depth, position, motion, or the like. In an embodiment,
the imager 138 comprises a multimodal biometric sensor for
identifying persons, objects, or the like. Various
facial-recognition hardware, programs, software, etc., are known
and can be used.
In an embodiment, the imager 138 includes an optical camera, a
stereo optical camera, or the like. In an embodiment, the imager
138 includes at least one of a radar module having an optical
radar, a microwave radar device, Doppler radar device, and the
like. In an embodiment, the imager 138 can be used to measure
velocity. In an embodiment, the imager 138 includes a rangefinder
device (e.g., laser range finder, acoustic range finder,
rangefinder camera, sonic ranging module, or the like) to determine
the approximate distance of the operator from the vehicle.
In an embodiment, the transport and support vehicle 102 takes the
form of a self-propelled operator-guided bed including an
operator-authorization device 130. In an embodiment, the
operator-authorization device 130 is configured to acquire
verification information associated with an operator 140. For
example, in an embodiment, the transport and support vehicle 102 is
operably coupled to an operator-authorization device 130 having an
input interface and one or more modules operable to acquire
verification information associated with an operator 140.
In an embodiment, the input interface includes a graphical user
interface. In an embodiment, the input interface includes a tablet
computing device, a smartphone, or a mobile device. In an
embodiment, the input interface includes an information input
device, a scanner, a card reader/writer device. In an embodiment,
the input interface includes a keyboard, a plug-in subscriber
identification module (SIM) card, or a Flash drive. In an
embodiment, the input interface includes a wire carrying a coded
signal.
In an embodiment, the operator-authorization device 130 is operably
coupled to at least one of a receiver 132, a transceiver 134, and a
transmitter 136 operable to acquire the verification information
associated with the operator 140. In an embodiment, the
operator-authorization device 130 includes a graphical user
interface. In an embodiment, the operator-authorization device 130
includes a tablet computing device, a smartphone, or a mobile
device.
In an embodiment, the input interface includes at least one of a
receiver, a transceiver, and a transmitter to acquire the
verification information associated with an operator. In an
embodiment, the operator-authorization device 130 includes an
information input device, a scanner, or a card reader/writer device
(e.g., smart-card reader, magnetic swipe card reader, optical card
reader, media reader/writer, etc.). In an embodiment, the
operator-authorization device 130 includes a verification module
144 for determining whether the operator is an authorized operator
140.
In an embodiment, the operator-authorization device 130 includes a
communication interface 131 configured to acquire operator-guide
verification information from an identification device 146
associated with an operator-guide. In an embodiment, the
operator-authorization device 130 includes routines, components,
data structures, interfaces, and the like, operable to acquire
operator-guide verification information from an identification
device 146 associated with an operator-guide. For example, during
operation, a plurality of tracking sensors operably coupled to a
tracking module 148 follow, monitor, track, etc., changes in a
location of a person carrying the operator-authorization device 130
by monitoring a communication signal from the
operator-authorization device 130. Accordingly, in an embodiment,
the tracking module 148 is configured to correlate at least one
measurand from one or more of the plurality of tracking sensors to
one or more physical movements of a user carrying the
identification device 146. In an embodiment, the
operator-authorization device 130 includes at least one of a
receiver 132, a transceiver 134, and a transmitter 136 operable to
acquire the verification information associated with the
operator-guide.
In an embodiment, the operator-authorization device 130 includes a
negotiation module 152 configured to initiate a discovery protocol
that allows the operator-authorization device 130 and the
identification device 146 associated with the operator-guide to
identify each other and negotiate one or more pre-shared keys. For
example, in an embodiment, the operator-authorization device 130
includes a negotiation module 152 having routines, components, data
structures, interfaces, and the like, operable to initiate a
discovery protocol that allows the operator-authorization device
130 and the identification device 146 associated with the
operator-guide to identify each other and negotiate one or more
pre-shared keys.
In an embodiment, at least one of the operator-authorization device
130 and the identification device 146 is responsive based on at
least one of an authorization protocol, an authentication protocol,
an activation protocol, a negotiation protocol, and the like. For
example, during operation, in an embodiment, at least one of the
operator-authorization device 130 and the identification device 146
implements a discovery and a registration protocol that allows the
operator-authorization device 130 and the identification device 146
to find each other and negotiate one or more pre-shared keys. This
negotiation is implemented using a variety of technologies,
methodologies, and modalities including, for example, using
aggressive-mode exchanges, main-mode exchanges, quick-mode
exchanges, or combinations thereof. In an embodiment, at least one
of the operator-authorization device 130 and the identification
device 146 is operable to establish an Internet Security
Association and Key Management Protocol (ISAKMP) security
association (SA), between the operator-authorization device 130 and
the identification device 146 using one or more negotiations
schemas. Non-limiting examples of negotiation types include
aggressive-mode negotiation, main-mode negotiation, quick-mode
negotiation, or the like. Further limiting examples of negotiation
types include aggressive mode negotiation using pre-shared key
authentication followed by quick-mode negotiation, aggressive mode
using digital signature authentication followed by quick-mode
negotiation, main mode negotiation using digital signature
authentication followed by quick-mode negotiation, main mode
negotiation using encrypted nonce-based authentication followed by
quick-mode negotiation, main mode negotiation using pre-shared key
authentication followed by quick-mode negotiation, or the like. In
an embodiment, the ISAKMP SA is used to protect subsequent key
exchanges between peer devices (e.g., via quick-mode negotiation
protocols, or the like).
In an embodiment, at least one of the operator-authorization device
130, the identification device 146, and the other devices disclosed
herein operates in a networked environment using connections to one
or more remote computing devices (e.g., a common network node, a
network computer, a network node, a peer device, a personal
computer, a router, a server, a tablet PC, a tablet, etc.) and
typically includes many or all of the elements described above. In
an embodiment, the connections include connections to a local area
network (LAN), a wide area network (WAN), or other networks. In an
embodiment, the connections include connections to one or more
enterprise-wide computer networks, intranets, and the Internet. In
an embodiment, the system 100, the transport and support vehicle
102, the operator-authorization device 130, or the like operate in
a cloud computing environment including one or more cloud computing
systems (e.g., private cloud computing systems, public cloud
computing systems, hybrid cloud computing systems, or the
like).
In an embodiment, the operator-authorization device 130 includes at
least one of a receiver 132, a transceiver 134, and a transmitter
136 that acquires various information as necessary, including for
example, operator-guide identification information, operator-guide
authorization status information, and the like. In an embodiment,
the operator-authorization device 130 is operably coupled to one or
more distal sensors that acquire travel path markings information.
In an embodiment, the operator-authorization device 130 includes
memory having patient-specific route-to-destination information
stored thereon. In an embodiment, operator-authorization device 130
is configured to acquire route-to-destination information. In an
embodiment, the operator-authorization device 130 is configured to
acquire patient identification information. In an embodiment, the
operator-authorization device 130 is configured to acquire
self-propelled operator-guided vehicle status information. In an
embodiment, the operator-authorization device 130 is configured to
acquire travel-route status information.
In an embodiment, the operator-authorization device 130 is operably
coupled to the transport assembly and includes one or more sensors
operable to detect an operator-guide identification device 146
associated with an operator-guide. In an embodiment, the
operator-authorization device 130 includes a communication
interface 131 having one or more modules configured to acquire
operator-guide verification information from the operator-guide
identification device 146. For example, in an embodiment, during
operation, the operator-guide identification device 146 is
interrogated by an electromagnetic energy signal, an acoustic
signal, or the like, generated by the operator-authorization device
130 to elicit an authorization key. Upon authorization, information
such as operator-guide authorization status information,
operator-guide identity information, operator-guide reference
guidance information, operator-guide verification information,
physical movement image information, route-to-destination
information, vehicle status information, etc., is shared. In an
embodiment, once located, identified, authorized, etc. a method
includes tracking staff, patients, vehicles, events, or the like to
determine a compliance status.
In an embodiment, the operator-authorization device 130 includes
one or more modules operable to acquire information indicative of
at least one of an operator-guide authorization status, an
operator-guide identity, and an operator-guide reference physical
movement information. In an embodiment, the operator-authorization
device 130 includes one or more modules that generate one or more
control commands for causing the transport assembly to maintaining
the self-propelled operator-guided vehicle at a target separation
from the authorized operator-guide identification device 146 based
on the at least one of the operator-guide authorization status, the
operator-guide identity, and the operator-guide reference physical
movement information.
In an embodiment, the operator-authorization device 130 is
configured to acquire navigation plan information (e.g., hospital
physical layout information, route information, obstacle
information, real-time hospital traffic information, destination
information, origination information, etc.) from the operator-guide
identification device 146 and to cause the generation of the one or
more control commands for causing the transport assembly to
maintain the self-propelled operator-guided vehicle at the target
separation from the authorized operator-guide identification device
146 based on the navigation plan information.
In an embodiment, operator-authorization device 130 includes a
navigation module 154 is operably coupled to the one or more
sensors 150 and configured to detect a location of the
operator-guide identification device 146 associated with the
operator-guide. Non-limiting examples of sensors 150 include
acoustic sensors, optical sensors, electromagnetic energy sensors,
image sensors, photodiode arrays, charge-coupled devices (CCDs),
complementary metal-oxide-semiconductor (CMOS) devices,
transducers, optical recognition sensors, infrared sensors, radio
frequency components sensors, thermo sensor, or the like. In an
embodiment, the operator-authorization device 130 includes a
navigation module 154 operably coupled to the one or more sensors
150 and configured to determine a location of the operator-guide
identification device 146 relative to the transport and support
vehicle 102. In an embodiment, operator-authorization device 130
includes a navigation module 154 operably coupled to the one or
more sensors 150 and configured to generate one or more control
commands for maintaining the self-propelled operator-guided vehicle
at target separation from the operator-guide identification device
146 responsive to a change of location of the operator-guide
identification device 146 relative to the transport and support
vehicle 102. In an embodiment, the operator-guide identification
device 146 includes one or more transducers that detect and convert
acoustic signals emitted from the operator-authorization device 130
into electronic signals.
In an embodiment, the transport and support vehicle 102 includes
one or more modules operable to register the operator-guide
identification device 146 relative to the transport and support
vehicle 102 and to generate registration information. In an
embodiment, the navigation module 154 is configured to locate,
register, and track the operator-guide identification device 146
with at least one operator-guide zone 142, and to generate
operator-guide zone registration information. In an embodiment, the
navigation module 154 is configured to register the operator-guide
identification device 146 relative to one operator-guide zone 142
and to generate registration information and one or more navigation
control commands based on the registration information.
In an embodiment, the navigation module 154 is configured to
register the operator-guide identification device 146 relative to
the transport and support vehicle 102 and to generate registration
information. For example, during operation, the navigation module
154 maps (e.g., spatially aligns, registers, projects, correlates,
etc.) the geographical location of operator-guide identification
device 146 relative to the geographical location of the transport
and support vehicle 102. In an embodiment, the navigation module
154 is configured to generate one or more navigation control
commands for maintain the transport and support vehicle 102 at a
target separation form the operator-guide identification device 146
based on the on the registration information. In an embodiment, the
navigation module 154 registers a plurality of objects by mapping
coordinates from one object to corresponding points in another
object. In an embodiment, the navigation module 154 registers
objects (e.g., operator-guide zones, travel path locations, target
and reference objects, targets and focal regions, images, etc.)
using one or more transformations.
Non-limiting examples of registration techniques or methodologies
include deformable registration, landmark-based registration, or
rigid registration. See e.g., Paquin et al., Multiscale Image
Registration, Mathematical Biosciences and Engineering, Vol. 3:2
(2006); see also Paquin, Dana, PhD, Multiscale Methods for Image
Registration, Ph.D. dissertation, Stanford University (2007);
Zitova et al., Image Registration Methods: a Survey, Image and
Vision Computing (21) pp. 977-1000 (2003); each of which is
incorporated herein by reference. In an embodiment, registration
includes techniques or methodologies for spatially aligning images
taken using different imaging modalities, taken at different times,
or that vary in perspective. Further non-limiting examples of
registration techniques or methodologies include deformable
multiscale registration, hybrid multiscale landmark registration,
multiscale image registration, or rigid multiscale registration. In
an embodiment, registration includes one or more of feature
detection, feature identification, feature matching, or transform
modeling. In an embodiment, registration includes mapping features
of a first object with the features of a second object. In an
embodiment, registration includes determining a point-by-point
correspondence between two objects, regions, or the like. In an
embodiment, registration includes determining a point-by-point
correspondence between an object and a location. For example, in an
embodiment, registration includes determining a point-by-point
correspondence between an object and an operator-guide zone
142.
In an embodiment, the operator-authorization device 130 includes a
navigation module 154 operably coupled to the one or more sensors
150 and configured to generate one or more control commands for
maintaining a velocity differences between a transport and support
vehicle's 102 and the operator-guide within a target range. In an
embodiment, the operator-authorization device 130 includes a
navigation module 154 operably coupled to the one or more sensors
150 and configured to generate one or more control commands for
maintaining a velocity differences between the transport and
support vehicle 102 and the operator-guide within a target
range.
In an embodiment, operator-authorization device 130 is configured
to generate route-to-destination information responsive to a
displacement of the operator-guide identification device 146
relative the transport and support vehicle 102. In an embodiment,
operator-authorization device 130 is configured to generate
route-to-destination information responsive to a detected velocity
difference between the operator-guide identification device 146 and
the transport and support vehicle 102. In an embodiment,
operator-authorization device 130 is configured to generate one or
more control commands for controlling one or more of propulsion,
braking, or steering responsive to movement of the operator-guide
identification device 146. In an embodiment, operator-authorization
device 130 is configured to generate one or more control commands
for controlling one or more of propulsion, braking, or steering
responsive to movement of the operator-guide identification device
146 responsive to a communication loss between the operator-guide
identification device 146 and the transport and support vehicle
102.
In an embodiment, the transport and support vehicle 102 takes the
form a self-propelled operator-guided bed including a navigation
controller 156 and a bedframe structure. In an embodiment, the
navigation controller 156 is configured to register the transport
and support vehicle 102 relative to a portion of a travel path and
to generate registration information. In an embodiment, the
navigation controller 156 is operably coupled to the
operator-authorization device 130 and the bedframe structure. In an
embodiment, the navigation controller 156 includes one or more
navigation modules 154 having circuitry operable to provide a
control signal to navigate the bedframe structure along a travel
path based on the one or more detected locations of the
identification device 146. In an embodiment, the
operator-authorization device 130 includes navigation module 154
having circuitry operable to generate and implement one or more
control commands for controlling one or more of propulsion,
braking, or steering responsive to one or more detected locations
of the identification device 146. In an embodiment, the navigation
controller 156 include one or more object sensors and is configured
to maintain the bedframe structure at a target separation from an
object proximate the travel path. In an embodiment, the navigation
controller 156 is configured to maintain the bedframe structure at
a target separation from a wall proximate the travel path.
In an embodiment, the transport and support system 100 includes one
or more self-propelled operator-guided vehicles. In an embodiment,
each self-propelled operator-guided vehicle includes a bedframe
structure having a surface 106 configured to support a patient, the
bedframe structure including a transport assembly having a
plurality of rotatable members 110 to frictionally interface the
vehicle to a travel path and to move the vehicle along the travel
path and a navigation system configured to vary one or more of
propulsion, braking, or steering angle of at least one of the
plurality of rotatable members 110.
In an embodiment, the transport and support vehicle 102 includes an
operator-authorization device 130 having one or more image sensors
for acquiring image information of an operator within an
operator-guide zone 142. In an embodiment, operator-authorization
device 130 includes a verification module 144 for determining
whether the operator is an authorized operator 140 based on the
image information. In an embodiment, the operator-authorization
device 130 includes one or more modules operable to determine one
or more of operator-guide identification information or
operator-guide authorization status information based on the image
information. In an embodiment, the operator-authorization device
130 is configured to determine at least one of operator-guide
identification and operator-guide authorization status information
based on the one or more detected physical movements of the
operator within the operator-guide zone 142.
In an embodiment, the transport and support vehicle 102 includes an
operator-guided vehicle navigation controller 156. For example, in
an embodiment, the transport and support vehicle 102 includes an
operator-guided vehicle navigation controller 156 operably coupled
to at least one or more of the operator-authorization device 130,
the steering assembly 126, the power source 116, or the motor 118.
In an embodiment, the operator-guided vehicle navigation controller
156 includes a control command module operable to determine
physical movement information from the image information and to map
one or more detected physical movements of the authorized operator
140 within the operator-guide zone 142 to at least one input
correlated with one or more navigation control commands for
controlling the transport and support vehicle 102 based on the
physical movement information. In an embodiment, the
operator-guided vehicle navigation controller 156 is configured to
navigate the transport and support vehicle 102 based on the one or
more navigation control commands. In an embodiment, the
operator-guided vehicle navigation controller 156 is responsive to
the operator-authorization device 130, and the one or more
navigation control commands, for controlling one or more of
propulsion, braking, or steering to direct the transport and
support vehicle 102 along a travel route.
In an embodiment, the operator-guided vehicle navigation controller
156 is responsive to the operator-authorization device 130, and the
one or more navigation control commands, for determining a travel
route for the transport and support vehicle 102. In an embodiment,
operator-guided vehicle navigation controller 156 is operably
coupled to at least one of the one or more image sensors and is
configured to determine a travel route based on the one or more
detected physical movements of the operator within the
operator-guide zone 142. In an embodiment, operator-guided vehicle
navigation controller 156 is operably coupled to a geographical
positioning system as is configured to determine one or more travel
destinations based on the one or more detected physical movements
of the operator within the operator-guide zone 142.
In an embodiment, it may be necessary to move a patient to and from
various locations, care units, etc., within a care facility.
Patients undergoing numerous diagnostic procedures, interventional
procedures, etc., may require transport to more than one location.
An operator (e.g., a care provider, an orderly, a nurse, at doctor,
etc.) may assist the patient onto a transport and support vehicle
102, and to one or more target destinations. More than one operator
may be necessary along the way to reach more than one destination.
During operation, an operator my approach the transport and support
vehicle 102 to guide it to a target destination along a travel
route. In an embodiment, a protocol can be activated to determine,
for example, whether the operator is authorized to assist that
transport and support vehicle 102, whether the correct patient is
on the transport and support vehicle 102, a status of one or more
travel routes, a status of one or more destination locations, etc.,
or the like.
In an embodiment, the transport and support vehicle 102 is
configured to respond to an operator that will assist it to reach
one or more destinations along a travel route. In an embodiment,
prior to engaging with the operator, the transport and support
vehicle 102 determines whether the operator proximate to the
transport and support vehicle 102, within an operator-guide zone
142, etc., is authorized to guide the transport and support vehicle
102 to a destination. For example, in an embodiment, the transport
and support vehicle 102 is operably coupled to an
operator-authorization device 130 including a verification module
144 for determining whether the operator is an authorized operator
140. In an embodiment, the verification module 144 includes
circuitry for determining whether the physical coupling member
associated with the at least one human corresponds to an authorized
operator 140. In an embodiment, the operator-authorization device
130 is operably coupled to communication interface 131 configured
to acquire operator-guide verification information from an
identification device 146 associated with an operator-guide. In an
embodiment, the operator-authorization device 130 is operably
coupled to an imager 138 including a camera and a
facial-recognition module having circuitry configured to locate,
identify, authorize, etc., an operator within an operator-guide
zone 142.
Once it has been determined that an operator is an authorized
operator 140 of the transport and support vehicle 102, the
operator-authorization device 130 is operable to enable an
automatic controlled state, a manual controlled state, an
operator-guided state, or remote controlled state of the transport
and support vehicle 102. For example, in an embodiment, in an
operator-guided state, the transport and support vehicle 102
determines navigation control commands for controlling the
transport and support vehicle 102 based on gesture information,
movement information, or the like, associated with an authorized
operator 140.
In an embodiment, the operator-authorization device 130 is operably
coupled to a steering assembly 126 that varies a vehicle heading
based on one or more inputs from the imager 138 indicative of a
change in position by the authorized operator 140. In an
embodiment, the operator-authorization device 130 is operably
coupled to a navigation module 154 that generates one or more
control commands for maintaining the self-propelled operator-guided
vehicle at target separation from the operator-guide identification
device 146 responsive to a change of location of the operator-guide
identification device 146 relative to the transport and support
vehicle 102. In an embodiment, the operator-authorization device
130 is operably coupled to one or more sensors 150 that image and
track a movement of a least a portion of the operator within the
operator-guide zone 142, and generates one or more navigation
control commands for controlling the transport and support vehicle
102 based on a measurand indicative of change in position of the
portion of the operator.
Accordingly, in an embodiment, the authorized operator 140 assist,
guides, controls, actuates, etc., the patient transport and support
vehicle 102 to one or more target destinations along a travel
route.
Referring to FIG. 2, in an embodiment, the transport and support
vehicle 102 includes a virtual object generator 202. For example,
in an embodiment, the transport and support vehicle 102 includes a
virtual object generator 202 operably coupled to the operator-guide
vehicle navigation controller 156. In an embodiment, during
operation, the virtual object generator 202 is configured to
generate a virtual representation 204 of at least one of a locality
206 of the operator within the operator-guide zone 142 and a
locality the transport and support vehicle 102 within a physical
space on a virtual display 206. In an embodiment, the
operator-authorization device 130 is configured to track at least a
portion of the operator within the operator-guide zone 142 and to
update a virtual object 208 in a virtual space corresponding to the
physical location of at least one of the transport and support
vehicle 102 and the portion of the operator within the
operator-guide zone 142. In an embodiment, the transport and
support vehicle 102 includes a virtual object generator 202
operably coupled to the operator-guide vehicle navigation
controller 156 and configured to generate a virtual representation
210 of the one or more navigation control commands on a virtual
display.
In an embodiment, the transport and support vehicle 102 includes a
virtual object generator 202 operably coupled to the operator-guide
vehicle navigation controller 156 and configured to generate a
virtual representation 212 corresponding to the physical location
of the transport and support vehicle 102 on a virtual display. In
an embodiment, the transport and support vehicle 102 includes a
virtual object generator 202 operably coupled to the operator-guide
vehicle navigation controller 156 and configured to generate a
virtual representation 214 corresponding to the portion of the
operator within the operator-guide zone 142 on a virtual display.
In an embodiment, the operator-authorization device 130 is
configured to image one or more physical movements of the operator
140 within the operator-guide zone 142 responsive to the image
information and to update a virtual object 210 in a virtual space
corresponding to the one or more physical movements of the operator
within the operator-guide zone 142.
In an embodiment, the transport and support vehicle 102 includes
one or more sensors 150 that image and track a movement of a least
a portion of the operator within the operator-guide zone 142. For
example, in an embodiment, the operator-guided vehicle navigation
controller 156 includes a navigation module 154 that is operably
coupled to the one or more movement recognition and tracking
sensors and is configured to generate one or more navigation
control commands for controlling the transport and support vehicle
102 based on a measurand indicative of change in position of the
portion of the operator. In an embodiment, the operator-guided
vehicle navigation controller 156 is operable to generate one or
more control commands for maintaining a separation 160 between the
transport and support vehicle 102 and the operator within the
operator-guide zone 142 within a target range. In an embodiment,
the operator-guided vehicle navigation controller 156 is operable
to generate one or more control commands for maintaining a velocity
difference between the transport and support vehicle 102 and the
operator within the operator-guide zone 142 within a target
range.
In an embodiment, the transport and support vehicle 102 includes
one or more sensors 150 that image and track a movement of a least
a portion of the operator within an operator-guide zone 142 while
the operator is proximate a side, front, or rear portion of the
transport and support vehicle 102. For example, in an embodiment,
the transport and support vehicle 102 includes one or more movement
recognition and tracking sensors that image and real-time track at
least a portion of the operator while the operator is proximate a
side, front, or rear portion of the transport and support vehicle
102. In an embodiment, the transport and support vehicle 102
includes one or more movement recognition and tracking sensors that
image and real-time track at least a portion of the operator within
the operator-guide zone 142. In an embodiment, the transport and
support vehicle 102 includes one or more sensors 150 that determine
proximity information (e.g., signal strength, propagation time,
phase change, etc.) indicative of a transport and support vehicle
102 location relative to an operator within the operator-guide zone
142. In an embodiment, the transport and support vehicle 102
includes one or more movement recognition and tracking sensors
operable to image one or more hand or arms gestures of the
operator. In an embodiment, the transport and support vehicle 102
includes one or more movement recognition and tracking sensors
operable to image one or more hand or arms gestures of an
authorized operator 140, an operator, an guide, an operator
different from the on-board patient, or the like. Non-limiting
examples of movement recognition and tracking sensors include
optical sensors, cameras, radiofrequency sensors, three-dimensional
sensors, electro-optical sensors, infra-red sensors, network of
sensors, distributed set of sensors, location sensors, etc. In an
embodiment, the transport and support vehicle 102 takes the form of
transport and support vehicle 102. In an embodiment, the
operator-guided vehicle navigation controller 156 is operably
coupled to the one or more movement recognition and tracking
sensors and is configured to determine gestures information from
image information and to map the one or more hand or arms gestures
of the operator within the operator-guide zone 142 to at least one
input correlated with one or more navigation control commands for
controlling the transport and support vehicle 102 based on the
gesture information.
In an embodiment, the operator-guided vehicle navigation controller
156 is operable to enable an automatic controlled state, a manual
controlled state, an operator-guided state, or remote controlled
state of the transport and support vehicle 102 based on a measurand
from the one or more movement recognition and tracking sensors
indicative that operator is not within the operator-guide zone 142.
In an embodiment, the operator-guided vehicle navigation controller
156 operable to initiate a standby mode, based on a measurand from
the one or more movement recognition and tracking sensors
indicative that operator is absent from the operator-guide zone
142. In an embodiment, the operator-guided vehicle navigation
controller 156 operable to initiate a no-operator protocol, based
on a measurand from the one or more movement recognition and
tracking sensors indicative that an authorized operator 140 is not
within the operator-guide zone 142.
In an embodiment, the transport and support vehicle 102 includes
self-propelled hospital bed navigation control system that includes
an operator-guided vehicle navigation controller 156 including a
navigation module 154 having one or more sensors 150 operable to
detect at least one operator within an operator-guide zone 142.
In an embodiment, the transport and support vehicle includes a
bedframe structure. In an embodiment, the bedframe structure
includes a surface 106 arranged and dimensioned to support an
individual subject. In an embodiment, the plurality of rotatable
members 110 is adapted and configured to frictionally interface the
vehicle to a travel path and to move the vehicle along the travel
path. In an embodiment, the steering assembly 126 operable to vary
a steering angle, an orientation, a velocity, etc., of at least one
of the plurality of rotatable members 110. In an embodiment, the
power source 116 and the motor 118 are operable to drive the one or
more of the plurality of rotatable members 110.
In an embodiment, the operator-guided vehicle navigation controller
156 is configured to detect the at least one operator within an
operator-guide zone 142 located proximate the self-propelled
hospital bed based on at least one measurand from the one or more
sensors 150. In an embodiment, the operator-guided vehicle
navigation controller 156 is configured to detect the at least one
operator within an operator-guide zone 142 located proximate a side
portion of the self-propelled hospital bed based on at least one
measurand from the one or more sensors 150. In an embodiment, the
operator-guided vehicle navigation controller 156 is configured to
detect the at least one operator within an operator-guide zone 142
located proximate a distal portion of the self-propelled hospital
bed based on at least one measurand from the one or more sensors
150. In an embodiment, the operator-guided vehicle navigation
controller 156 includes at least one communication interface 131
configured to detect an identification device 146 associated with
the at least one operator based on at least one measurand from the
one or more sensors 150.
In an embodiment, the operator-guided vehicle navigation controller
156 includes one or more optical sensors operable to detect an
optical authorization signal from an identification device 146
associated with the at least one operator. In an embodiment, the
operator-guided vehicle navigation controller 156 includes one or
more transducers operable to detect an acoustic authorization
signal from an identification device 146 associated with the at
least one operator. In an embodiment, the operator-guided vehicle
navigation controller 156 includes one or more imagers 138 to
acquire an image of a human proximate the self-propelled hospital
bed or of a badge associated with the at least one operator. In an
embodiment, the operator-guided vehicle navigation controller 156
is operably coupled to a device associated with the at least one
operator via an input-or-output port, the navigation controller
156. In an embodiment, the operator-guided vehicle navigation
controller 156 is operably connected to a physical coupling member
associated with the at least one operator via an input-or-output
port.
In an embodiment, the operator-guided vehicle navigation controller
156 includes a verification module 144 including circuitry for
determining whether the physical coupling member associated with
the at least one human corresponds to an authorized operator 140.
In an embodiment, the operator-guided vehicle navigation controller
156 includes a communication interface 131 operable to initiating a
discovery protocol that allows the operator-guided vehicle
navigation controller 156 and an identification device 146
associated with the at least one operator to identify each other
and negotiate one or more pre-shared keys. In an embodiment, the
operator-guided vehicle navigation controller 156 includes at least
one a receiver 132, transmitter 134, or transceiver 136 configured
to detect an identification device 146 associated with the at least
one operator. In an embodiment, the operator-guided vehicle
navigation controller 156 includes one or more electromagnetic
energy sensors that detect a wireless signal from identification
device 146 associated with at least one operator. In an embodiment,
the operator-guided vehicle navigation controller 156 includes one
or more optical sensors configured to detect radiation reflected
form one or more retro-reflector elements associated with the at
least one operator. In an embodiment, the operator-guided vehicle
navigation controller 156 includes one or more optical sensors
configured to detect radiation reflected from one or more
retro-reflector elements along a travel path.
In an embodiment, the transport and support vehicle 102 includes an
operator movement mapping module. For example, in an embodiment,
the transport and support vehicle 102 includes an operator movement
mapping module operably coupled to the operator-guided vehicle
navigation controller 156 and to at least one of the plurality of
rotatable members 110, the power source 116, and the motor 118. In
an embodiment, the operator movement mapping module is operable to
map one or more physical movements of the operator within the
operator-guide zone 142 to at least one input correlated with one
or more navigation control commands for controlling the transport
and support vehicle 102. In an embodiment, the operator movement
mapping module is operable to generate a control signal to at least
one of the plurality of rotatable members 110, the power source
116, and the motor 118 to navigate the transport and support
vehicle 102 based on the one or more navigation control
commands.
In an embodiment, the operator movement mapping module includes
circuitry configured to map one or more gestures of the human
operator within the operator-guide zone to at least one input
correlated with one or more navigation control commands for
controlling the self-propelled operator-guided vehicle, and to
generate a control signal to at least one of the plurality of
rotatable members 110, the power source 116, and the motor 118 to
navigate the self-propelled operator-guided vehicle based on the
one or more navigation control commands.
In an embodiment, the operator movement mapping module includes
circuitry configured to map one or more physical movements of the
human operator resulting in a change in separation distance of the
human operator within the operator-guide zone from the bed, to at
least one input correlated with one or more navigation control
commands for controlling the self-propelled operator-guided
vehicle, and to generate a control signal to at least one of the
plurality of rotatable members 110, the power source 116, and the
motor 118 to navigate the self-propelled operator-guided vehicle
based on the one or more navigation control commands.
Referring to FIG. 3, in an embodiment, the transport and support
vehicle 102 includes a fail-safe control system 300. For example,
in an embodiment, the fail-safe control system 300 include one or
more fail-safe devices 302 that physically couple the transport and
support vehicle 102 to the at least one operator 140. In an
embodiment, the transport and support vehicle 102 includes a
fail-safe control system 300 having a fail-safe module 308
including circuitry operable to activate a fail-safe protocol when
the operator 140 is no longer detected. For example, during
operation, the operator 140 couples an information carrier 304 to
an interface port 306 of the transport and support vehicle 102.
Upon coupling, a verification module 144 determines whether the
operator 140 is an authorized operator. In an embodiment, the
fail-safe control system 300 is operable to activate a fail-safe
protocol during a fail-safe mode of operation. For example, in an
embodiment, the fail-safe control system 300 is operable to
activate a fail-safe protocol responsive to an indication that the
transport and support vehicle 102 and the at least one operator are
no longer physically coupled via the fail-safe control system 300.
In an embodiment, the fail-safe control system 300 includes one or
more modules operable to activate a fail-safe protocol when the
information carrier 304 is no longer detected. In an embodiment,
fail-safe control system 300 includes a connection assembly for
coupling the operator-guided transport and support vehicle 102 to a
physical coupling member associated with the least one operator. In
an embodiment, the fail-safe control system 300 is operable to
activate a fail-safe protocol when the coupling to the physical
coupling member is lost. In an embodiment, the transport and
support vehicle 102 includes a fail-safe control system 300 having
an input-or-output interface to operably connect an information
carrier 304 associated with the at least one operator 140 to the
operator-guided vehicle navigation controller 156.
In an embodiment, the transport and support vehicle 102 includes an
audio input recognition control device 310 (e.g., voice-command
recognition device, speech recognition device, audio tone control
input device, etc.) including one or more acoustic sensor operable
to recognize speech input, and to generate a transport route based
on the speech input. In an embodiment, the transport and support
vehicle 102 includes an audio-activated control module 312 operable
to receive an audio input and to correlate the audio input to at
least one navigation control command for controlling at least one
of propulsion, braking, and steering of the transport and support
vehicle 102.
In an embodiment, the transport and support vehicle 102 includes an
audio control module 314 operably coupled to the operator-guided
vehicle navigation controller 156 and configured to receive one or
more voice command inputs from the operator and to identify one or
more potential matching symbols for the one or more voice commands.
In an embodiment, the potential one or more matching symbols
include at least one navigation control command for controlling the
transport and support vehicle 102. In an embodiment, the potential
one or more matching symbols include at least one navigation
control command for controlling a destination of the transport and
support vehicle 102. In an embodiment, the potential one or more
matching symbols include at least one navigation control command
for controlling an orientation of the transport and support vehicle
102. In an embodiment, the potential one or more matching symbols
include at least one navigation control command for controlling at
least one of propulsion, braking, and steering of the transport and
support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes a
voice-command recognition device 316 including a voice-command
control module 318 having one or more transducers operable to
recognize an operator-specific input, receive one or more speech
inputs, and generate transport route information based on the one
or more speech inputs. In an embodiment, the transport and support
vehicle 102 includes a speech recognition device 318 including one
or more speech control modules 320 operable to correlate speech
input to at least one navigation control command for controlling at
least one of propulsion, braking, and steering of the transport and
support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes
one or more navigation systems (e.g., a laser navigation system, an
optical navigation system, a sonic navigation system, a vision
navigation system, etc.). In an embodiment, the transport and
support vehicle 102 includes a navigation system including one or
more navigation modules. For example, in an embodiment, the
transport and support vehicle 102 includes a navigation module
having a global position circuitry for detecting a geographical
location of the transport and support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes an
optical navigation system operably coupled to the operator-guided
vehicle navigation controller 156 and including one or more
electromagnetic energy sensors. In an embodiment, the
operator-guided vehicle navigation controller 156 configured to
generate a control signal to at least one of the plurality of
rotatable members 110, the power source 116, and the motor 118 to
navigate the transport and support vehicle 102 based on one or more
measurands outputs from the optical navigation system.
In an embodiment, the transport and support vehicle 102 includes an
inertial navigation system operably coupled to the operator-guided
vehicle navigation controller 156, and including one or more motion
sensors or rotation sensors. In an embodiment, the operator-guided
vehicle navigation controller 156 is configured to generate at
least one of position information, orientation information, and
velocity information based on one or more measurands outputs from
the inertial navigation system. In an embodiment, the transport and
support vehicle 102 includes a collision avoidance system operably
coupled to the operator-guided vehicle navigation controller 156
and including one or more sensors 150 operable to detect a travel
path condition. In an embodiment, the operator-guided vehicle
navigation controller 156 configured to generate a control signal
to at least one of the plurality of rotatable members 110, the
power source 116, and the motor 118 to navigate the transport and
support vehicle 102 based on one or more measurands outputs from
the collision avoidance system.
In an embodiment, the transport and support vehicle 102 includes a
collision avoidance system operably coupled to the operator-guided
vehicle navigation controller 156 and including one or more sensors
150 operable to detect a travel path condition. In an embodiment,
the operator-guided vehicle navigation controller 156 is configured
to generate a control signal to control at least one of propulsion,
braking, and steering of the transport and support vehicle 102
based on one or more measurands outputs from the collision
avoidance system. In an embodiment, the transport and support
vehicle 102 includes one or more moment of inertia sensors operably
coupled to the operator-guided vehicle navigation controller 156.
In an embodiment, the operator-guided vehicle navigation controller
156 configured to generate one or more navigation control commands
for controlling the transport and support vehicle 102 based on at
least one measurand from the one or more moment of inertia sensor.
In an embodiment, the transport and support vehicle 102 includes
one or more weight sensors operably coupled to the operator-guided
vehicle navigation controller 156, the operator-guided vehicle
navigation controller 156 configured to generate one or more
navigation control commands for controlling the transport and
support vehicle 102 based on at least one measurand from the one or
more weight sensors 150.
In an embodiment, the transport and support vehicle 102 includes a
plurality of distance measuring sensors for determining a travel
distance from a location on the transport and support vehicle 102
to a remote object. In an embodiment, the transport and support
vehicle 102 includes a plurality of travel-path sensors for
detecting a remote object along a travel path of the transport and
support vehicle 102. In an embodiment, the transport and support
vehicle 102 includes an audio-activated control module 312 operable
to receive an audio input. For example, in an embodiment, the
operator-guided vehicle navigation controller 156 includes an audio
input mapping module having circuitry operable to correlate the
audio input to at least one navigation control command for
controlling at least one of propulsion, braking, and steering of
the transport and support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes a
plurality of wheels 112, each wheel having an electric wheel hub
motor 114 such that, during operation. In an embodiment, the
operator-guided vehicle navigation controller 156 varies an applied
current to each electric wheel hub motor 114 based on an audio
input.
In an embodiment, the audio-activated control module 312 is
operable to receive one or more voice command inputs from an
operator and to identify one or more potential matching symbols for
the one or more voice commands. In an embodiment, the one or more
potential matching symbols including at least one navigation
control command for controlling at least one of propulsion,
braking, and steering of the transport and support vehicle 102. In
an embodiment, the audio-activated control module 312 includes a
voice-command recognition device 316 including one or more
transducers operable to detect an operator-specific input and to
generate transport route based on the operator-specific input. In
an embodiment, the audio-activated control module 312 includes a
speech recognition device 318 configured to correlate speech input
to at least one navigation control command for controlling at least
one of propulsion, braking, and steering of the transport and
support vehicle 102. In an embodiment, the audio-activated control
module 312 includes a speech recognition device 318 configured to
correlate speech input to one or more navigation control commands
for controlling a steering angle of at least one of the plurality
of rotatable members 110.
In an embodiment, the transport and support vehicle 102 includes an
operator-guided vehicle navigation controller 156 including an
audio-activated control module 312 having one or more transducers
operable to receive an audio input, and an audio input mapping
module including circuitry operable to correlate the audio input to
at least one navigation control command for controlling at least
one of propulsion, braking, and steering of the transport and
support vehicle 102. In an embodiment, the audio-activated control
module 312 includes one or more modules having circuitry operable
to receive one or more voice command inputs from an operator and to
generate one or more potential matching symbols for the one or more
voice commands. In an embodiment, the one or more potential
matching symbols including at least one navigation control command
for controlling at least one of propulsion, braking, and steering
of the transport and support vehicle 102.
In an embodiment, the audio-activated control module 312 includes a
voice-command recognition device 316 including one or more
transducers operable to acquire an operator-specific input. In an
embodiment, the audio-activated control module 312 is configured to
generate transport route based on the operator-specific input. In
an embodiment, the audio-activated control module 312 includes a
speech recognition device 318 configured to correlate speech input
to at least one navigation control command for controlling at least
one of propulsion, braking, and steering of the transport and
support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes an
operator-guide verification and navigation controller 156 including
one or more sensors operable to acquire at least one digital image
of an operator within an operator-guide zone 142. In an embodiment,
the operator-guide verification and navigation controller 156
includes one or more modules having circuitry operable to map one
or more physical movements of the operator within the
operator-guide zone 142 and imaged in the at least one digital
image to at least one input correlated with one or more navigation
control commands for controlling the transport and support vehicle
102. In an embodiment, the operator-guide verification and
navigation controller 156 is configured to navigate the transport
and support vehicle 102 to at least a first location responsive to
the one or more navigation control commands.
In an embodiment, the transport and support vehicle 102 includes an
operator-authorization device 130 including one or more sensors
that detect one or more physical movements of the operator within
the operator-guide zone 142. In an embodiment, the transport and
support vehicle 102 includes a self-propelled operator-guided
vehicle navigation controller 156 having a computing device and
memory to provide a control signal to map the one or more physical
movements of the operator within the operator-guide zone 142 to at
least one input correlated with one or more navigation control
commands for controlling the transport and support vehicle 102. In
an embodiment, the transport and support vehicle 102 includes a
self-propelled operator-guided vehicle navigation controller 156
having a computing device and memory to provide a control signal to
navigate a transport and support vehicle 102 based on the one or
more navigation control commands.
In an embodiment, the transport and support vehicle 102 includes a
real-time object recognition device configured to identify groups
of pixels indicative of one or more physical movements associated
with an operator within an operator-guide zone 142 imaged in the at
least one digital image. For example, in an embodiment, the
transport and support vehicle 102 includes a real-time object
recognition device including one or more modules having circuitry
configured to identify groups of pixels indicative of one or more
physical movements associated with an operator within an
operator-guide zone 142 imaged in the at least one digital image.
In an embodiment, the transport and support vehicle 102 includes a
real-time object recognition device configured to generate one or
more connected components of a graph representative of groups of
pixels indicative of the one or more physical movements associated
with the operator imaged in the at least one digital image. In an
embodiment, the transport and support vehicle 102 includes a
real-time object recognition device configured to correlate the one
or more connected components of the graph to at least one input
associated with one or more navigation control commands for
controlling the transport and support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes a
self-guided-vehicle navigation controller 156 having a
route-to-destination control module including circuitry operable to
generate route-to-destination information based on one or more
patient verification inputs. In an embodiment, the
self-guided-vehicle navigation controller 156 includes a
travel-route status acquisition circuit operable to acquire
real-time travel-route status information. In an embodiment, the
self-guided-vehicle navigation controller 156 includes an alternate
route-to-destination generation circuit operable to generate
route-to-destination information responsive to the travel-route
status information indicative of an adverse condition present along
the travel route. In an embodiment, the self-guided-vehicle
navigation controller 156 includes an optical guidance system
configured to determine the first position of a transport and
support vehicle 102.
In an embodiment, the self-guided-vehicle navigation controller 156
includes circuitry operable to generate one or more control
commands for navigating the transport and support vehicle 102 along
a multi-floor travel route. In an embodiment, the
self-guided-vehicle navigation controller 156 is operably coupled
to at least one of the plurality of rotatable members 110, the
power source 116, and the motor 118, and configured to generate one
or more control commands for navigating the transport and support
vehicle 102 to at least a first target location along a travel
route based on a patient verification input. In an embodiment, the
self-guided-vehicle navigation controller 156 is operably coupled
to at least one of the plurality of rotatable members 110, the
power source 116, and the motor 118, and configured to generate one
or more control commands for navigating the transport and support
vehicle 102 to at least a first target location along a travel
route based on one or more inputs indicative of a change in health
status of a patient being transported.
In an embodiment, the transport and support vehicle 102 includes
one or more memory device structures having travel route
information or object along travel route information stored
thereon. In an embodiment, the transport and support vehicle 102
includes one or more memories having reference travel route
information stored thereon. In an embodiment, the
self-guided-vehicle navigation controller 156 includes a
communication interface 131 configured to request real-time path
traffic status information and to update the route-to-destination
information based on the response to the request real-time path
traffic status information. In an embodiment, the
self-guided-vehicle navigation controller 156 is configured to
generate one or more control commands for controlling one or more
of propulsion, braking, or steering responsive to an input from one
or more sensors operably coupled to the self-guided-vehicle
navigation controller 156 and configured to detect a location of a
remote object along a travel route.
In an embodiment, the self-guided-vehicle navigation controller 156
is configured to generate one or more control commands for
navigating the transport and support vehicle 102 to at least a
first target location along a travel route based on the
route-to-destination information. For example, in an embodiment,
the self-guided-vehicle navigation controller 156 is operably
coupled to at least one of the plurality of rotatable members 110,
the power source 116, and the motor 118 and is configured to
generate one or more control commands for navigating the transport
and support vehicle 102 to at least a first target location along a
travel route based on the route-to-destination information.
In an embodiment, the route-to-destination control module includes
a patient-in-route circuit configured to acquire travel-route
status information, the travel-route status information to be
acquired including one or more of travel-route traffic information,
travel-route obstacle location information, travel-route map
information, or travel-route geographical location information, and
to generate updated route-to-destination information responsive to
the travel-route status information. In an embodiment, the
route-to-destination control module includes a patient-in-route
circuit configured to report transport and support vehicle 102
location information along one or more target travel-route
locations. In an embodiment, the route-to-destination control
module includes a patient-in-route circuit configured to report
self-guided patient-support and transport location arrival
information.
In an embodiment, the transport and support vehicle 102 includes a
navigation module having one or more sensors 150 to determine a
position, velocity, or acceleration of the transport and support
vehicle 102. In an embodiment, the inertial navigation module
configured to generate transport and support vehicle 102 status
information responsive to changes to the position, velocity, or
acceleration of the transport and support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes a
navigation module including one or more sensors 150 to determine a
bearing, a direction, a rate-of-change of bearing, or a
rate-of-change of direction of the self-guided patient-support
vehicle. In an embodiment, the inertial navigation module
configured to generate transport and support vehicle 102 status
information responsive to a change to the bearing, the direction,
the rate-of-change of bearing, or the rate-of-change of direction
of the transport and support vehicle 102.
In an embodiment, the transport and support vehicle 102 includes a
voice-command recognition device 316 operably coupled to the
self-guided-vehicle navigation controller 156 and having one or
more audio sensors operable to recognize an audio input. In an
embodiment, the self-guided-vehicle navigation controller 156 is
configured to generate one or more control commands based on the
audio input.
In an embodiment, the transport and support vehicle 102 includes a
voice-command recognition device 316 including one or more audio
sensors operable to recognize an operator-specific audio input and
to enable an automatic controlled state, a manual controlled state,
an operator-guided state, or remote controlled state of the
self-guided-vehicle navigation controller 156 based on the audio
input. In an embodiment, the voice-command recognition device 316
configured to enable an automatic controlled state, a manual
controlled state, an operator-guided state, or remote controlled
state of the self-guided-vehicle navigation controller 156 based on
the audio input
In an embodiment, the transport and support vehicle 102 includes
one or more weight sensors or moments of inertia sensor, such that,
during operation, the self-guided-vehicle navigation controller 156
is configured to determine weight information or a moment of
inertia information, and one or more control commands for
navigating the transport and support vehicle 102 to a second
position along a travel route based on at least one of the weight
information and the moment of inertia information.
In an embodiment, the transport and support vehicle 102 includes
one or more sensors 150 configured to detect one or more travel
path markings along a travel path and to generate travel path
markings information. In an embodiment, the self-guided-vehicle
navigation controller 156 is configured to generate
route-to-destination information based on one or more target
location inputs and the travel path makings information. In an
embodiment, the transport and support vehicle 102 includes one or
more sensors 150 configured to detect one or more travel path
markings along a travel path and to generate travel path makings
information, the self-guided-vehicle navigation controller 156
configured to generate registration information for real-time
registering of the transport and support vehicle 102 relative to
the one or more travel path markings. In an embodiment, the
self-guided-vehicle navigation controller 156 configured to
register the transport and support vehicle 102 relative to the one
or more travel path markings.
In an embodiment, a self-guided patient-support and transport
system, includes one or more transport and support vehicle 102,
each transport and support vehicle 102 including a
self-guided-vehicle navigation controller 156 configured to
determine a position, velocity, acceleration, bearing, direction,
or a rate-of-change of bearing, or rate-of-change of direction of
the transport and support vehicle 102 and generate transport and
support vehicle 102 status information. In an embodiment, a
self-guided patient-support and transport system includes one or
more transport and support vehicle 102, each transport and support
vehicle 102 including a self-guided-vehicle navigation controller
156 configured to generate route-to-destination information based
on one or more target location inputs and the transport and support
vehicle 102 status information. In an embodiment, a self-guided
patient-support and transport system, includes one or more
transport and support vehicle 102, each transport and support
vehicle 102 including a self-guided-vehicle navigation controller
156 configured to generate one or more control commands for
automatically navigating the transport and support vehicle 102 to a
second position along a travel route based on the
route-to-destination information.
In an embodiment, a remotely guided, omnidirectional, transport and
support vehicle 102 includes a vehicle navigation controller 156
including a communication module having at least one of a receiver
132, transmitter 134, and transceiver 136 operable to communicate
with a remote navigation network and to receive control command
information (e.g., route-to-destination information, navigation
information, location based control commands, etc.) from the remote
navigation network. In an embodiment, the vehicle navigation
controller 156 includes a route-status module including circuitry
operable to provide one or more of travel route image information,
patient-support vehicle geographic location information,
patient-support vehicle travel direction information,
patient-support vehicle travel velocity information,
patient-support vehicle propulsion information, or patient-support
vehicle braking information.
In an embodiment, the vehicle navigation controller 156 is operably
coupled to at least one of a body structure, a plurality of
rotatable members 110, a steering assembly 126, a power source 116,
and a motor 118. In an embodiment, the vehicle navigation
controller 156 is configured to generate one or more control
commands for navigating a remotely guided, self-propelled,
transport and support vehicle 102 to at least a first patient
destination along a patient travel route based on the control
command information from the remote navigation network. For
example, in an embodiment, the vehicle navigation controller 156
includes a patient destination module for generating one or more
control commands for navigating a remotely guided, self-propelled,
transport and support vehicle 102 to at least a first patient
destination along a patient travel route based on the control
command information from the remote navigation network.
In an embodiment, the vehicle navigation controller 156 is
configured to navigate to a target patient destination satisfying a
threshold criterion responsive to receipt of the control command
information responsive to control command information received from
the remote navigation network. In an embodiment, the vehicle
navigation controller 156 is configured to navigate to a target
patient destination responsive to control command information
received from the remote navigation network. In an embodiment, the
vehicle navigation controller 156 is configured to switch from an
automatic controlled state, a manual controlled state, an
operator-guided state, or a remote controlled state to a different
one of the automatic controlled state, the manual controlled state,
or the remote controlled state, responsive to control command
information received from the remote navigation network.
In an embodiment, the transport and support vehicle 102 includes
one or more travel route sensors 150 operably coupled to the
vehicle navigation controller 156. In an embodiment, the one or
more travel route sensors 150 are configured to detect a travel
distance of at least one travel increment along the patient travel
route. In an embodiment, the vehicle navigation controller 156 is
configured to determine one or more of a total travel distance, a
travel direction, or a travel velocity based on the travel distance
of the at least one travel increment along the patient travel
route. In an embodiment, the vehicle navigation controller 156 is
configured to generate one or more control commands for varying one
or more of propulsion, braking, or steering to direct the transport
and support vehicle 102 along the target patient travel route based
on the travel distance of the at least one travel increment along
the patient travel route.
In an embodiment, the transport and support vehicle 102 includes a
speech recognition module that causes the vehicle navigation
controller 156 to execute one or more control commands for
navigating a remotely guided, self-propelled, transport and support
vehicle 102 to a subsequent travel position along a patient travel
route responsive to an input from the speech recognition module. In
an embodiment, the transport and support vehicle 102 includes a
speech recognition module that causes the vehicle navigation
controller 156 to execute one or more control commands for toggling
between two or more control states. In an embodiment, the transport
and support vehicle 102 includes one or more travel route sensors
150 that generate at least one measurand indicative of movement of
a remotely guided, self-propelled, transport and support vehicle
102 to a surface region traversed by a remotely guided,
self-propelled, transport and support vehicle 102 and generate
vehicle displacement information based on the at least one
measurand indicative of movement. In an embodiment, the transport
and support vehicle 102 includes at least one traction wheel for
propelling a remotely guided, self-propelled, transport and support
vehicle 102 along a travel route.
In an embodiment, the vehicle navigation controller 156 includes
one or more system sub-controllers. In an embodiment, the vehicle
navigation controller 156 is operably coupled to one or more of
propulsion controllers, braking controllers, or steering
controllers. In an embodiment, the vehicle navigation controller
156 includes one or more of propulsion controllers, braking
controllers, or steering controllers. In an embodiment, the vehicle
navigation controller 156 is operably coupled to one or more of a
propulsion system, a brake system, or a steering system of a
remotely guided, self-propelled, transport and support vehicle 102.
In an embodiment, the vehicle navigation controller 156 is operably
coupled to one or more of a propulsion system, a brake system, or a
steering system of a remotely guided, self-propelled, transport and
support vehicle 102 and is operable to switch the state of at least
one of the propulsion system, the brake system, and the steering
system from an automatic controlled state, a manual controlled
state, an operator-guided state, or a remote controlled state, to a
different one of the automatic controlled state, the manual
controlled state, or the remote controlled state.
In an embodiment, the vehicle navigation controller 156 is operable
to connect to a local area network (LAN), a wide area network
(WAN), an enterprise-wide computer network, an enterprise-wide
intranet, or the Internet. In an embodiment, a remotely guided,
transport and support vehicle 102 includes a body structure having
a transport assembly having a steering assembly 126 and a power
train. In an embodiment, the transport and support vehicle 102
includes a vehicle navigation controller 156 including a
communication interface 131 having at least one of a receiver 132,
transmitter 134, and transceiver 136 operable to communicate with a
remote navigation network and to receive travel-route information
and at least one of propulsion control command information, braking
command information, or steering command information from the
remote navigation network so as to reach a patient destination
along a patient travel route. In an embodiment, the vehicle
navigation controller 156 is operably coupled to at least one of
transport assembly, steering assembly 126, and power train, and
configured to generate at least one navigation control command for
controlling at least one of propulsion, braking, and steering of a
remotely guided, self-propelled, transport and support vehicle 102
based on the propulsion control command information, the braking
command information, or the steering command information from the
remote navigation network.
In an embodiment, the vehicle navigation controller 156 is
configured to generate one or more control commands for navigating
a remotely guided, self-propelled, transport and support vehicle
102 to at least a first patient travel position responsive to the
travel-route information and the at least one of propulsion control
command information, braking command information, and steering
command information from the remote navigation network. In an
embodiment, the transport and support vehicle 102 includes one or
more travel route sensors 150 that monitor a distance traveled by a
remotely guided, self-propelled, transport and support vehicle 102.
In an embodiment, the vehicle navigation controller 156 is
configured to generate a plurality of target travel increments
corresponding to a patient travel route to a patient
destination.
In an embodiment, the transport and support vehicle 102 includes a
self-propelled patient-support status reporter device including one
or more transceivers or transmitters that generate an output
indicative of an authorization to operate the self-propelled
patient-support and transport vehicle. In an embodiment, the
vehicle navigation controller 156 is configured to execute one or
more navigation control commands for controlling one or more of
propulsion, braking, or steering to direct the transport and
support vehicle 102 along the patient travel route responsive to
the travel-route information and the at least one of propulsion
control command information, braking command information, and
steering command information from the remote navigation
network.
Referring to FIG. 4, in an embodiment, an article of manufacture
402 includes a non-transitory signal-bearing medium bearing one or
more instructions for detecting an operator-guide identification
device 146 associated with operator-guide. In an embodiment, an
article of manufacture 402 includes a non-transitory signal-bearing
medium bearing one or more instructions for acquiring
operator-guide verification information from the operator-guide
identification device 146. In an embodiment, the
operator-authorization device 130 to be acquired including
information indicative of at least one of an operator-guide
authorization status, an operator-guide identity, and an
operator-guide reference guidance information. In an embodiment, an
article of manufacture 402 includes a non-transitory signal-bearing
medium bearing one or more instructions for generating one or more
control commands for maintaining a self-propelled operator-guided
vehicle at target separation from the operator-guide identification
device 146. In an embodiment, an article of manufacture 402
includes a non-transitory signal-bearing medium bearing one or more
instructions for detecting a location of the operator-guide
identification device 146 associated with the operator-guide.
In an embodiment, an article of manufacture 402 includes a
non-transitory signal-bearing medium bearing one or more
instructions for generating one or more control commands for
maintaining the self-propelled operator-guided vehicle at a target
separation from the operator-guide identification device 146
responsive to a change of location of the operator-guide
identification device 146 relative to the self-propelled
operator-guided vehicle. In an embodiment, an article of
manufacture 402 includes a non-transitory signal-bearing medium
bearing one or more instructions for determining a location of the
operator-guide identification device 146 associated with the
operator-guide relative to the self-propelled operator-guided
vehicle. In an embodiment, an article of manufacture 402 includes a
non-transitory signal-bearing medium bearing one or more
instructions for determining a velocity difference between the
operator-guide identification device 146 and the self-propelled
operator-guided vehicle. In an embodiment, an article of
manufacture 402 includes a non-transitory signal-bearing medium
bearing one or more instructions for controlling one or more of
propulsion, braking, or steering responsive to detected velocity
difference between the operator-guide identification device 146 and
the self-propelled operator-guided vehicle.
Referring to FIG. 5, in an embodiment, an article of manufacture
502 includes a non-transitory signal-bearing medium bearing one or
more instructions for acquiring physical movement image information
of an operator within an operator-guide zone 142. In an embodiment,
an article of manufacture 502 includes a non-transitory
signal-bearing medium bearing one or more instructions for
determining operator-guide verification information for the
operator within the operator-guide zone 142 based on the physical
movement image information. In an embodiment, an article of
manufacture 502 includes a non-transitory signal-bearing medium
bearing one or more instructions for mapping one or more physical
movements of the operator within the operator-guide zone 142 to at
least one input correlated with one or more navigation control
commands for controlling a self-propelled operator-guided bed.
In an embodiment, an article of manufacture 502 includes a
non-transitory signal-bearing medium bearing one or more
instructions for navigating the self-propelled operator-guided bed
based on the one or more navigation control commands. In an
embodiment, an article of manufacture 502 includes a non-transitory
signal-bearing medium bearing one or more instructions for
generating a virtual representation of at least one of a locality
of the operator within the operator-guide zone 142 and a locality
the self-propelled operator-guided bed on a virtual display 206. In
an embodiment, an article of manufacture 502 includes a
non-transitory signal-bearing medium bearing one or more
instructions for generating a virtual representation of the one or
more physical movements on a virtual display 206. In an embodiment,
an article of manufacture 502 includes a non-transitory
signal-bearing medium bearing one or more instructions for
generating a virtual representation of the one or more navigation
control commands on a virtual display 206.
In an embodiment, an article of manufacture 502 includes a
non-transitory signal-bearing medium bearing one or more
instructions for determining a travel route based on one or more
detected physical movements of the operator within the
operator-guide zone 142. In an embodiment, an article of
manufacture 502 includes a non-transitory signal-bearing medium
bearing one or more instructions for determining at least a first
travel destination based on the one or more detected physical
movements of the operator within the operator-guide zone 142. In an
embodiment, an article of manufacture 502 includes a non-transitory
signal-bearing medium bearing one or more instructions for
registering a physical location of the operator within the
operator-guide zone 142 relative the self-propelled operator-guided
bed, and generating registration information. In an embodiment, an
article of manufacture 502 includes a non-transitory signal-bearing
medium bearing one or more instructions for generating a virtual
representation of at least one of a locality of the operator within
the operator-guide zone 142 and a locality the self-propelled
operator-guided bed within a physical space on a virtual display
206 based on the registration information. In an embodiment, an
article of manufacture 502 includes a non-transitory signal-bearing
medium bearing one or more instructions for controlling one or more
of propulsion, braking, or steering of the self-propelled
operator-guided bed based on the at least one input.
Referring to FIG. 6, in an embodiment, an article of manufacture
602 includes a non-transitory signal-bearing medium bearing one or
more instructions for determining a position, velocity,
acceleration, bearing, direction, rate-of-change of bearing,
rate-of-change of direction, etc., of a self-guided hospital bed.
In an embodiment, an article of manufacture 602 includes a
non-transitory signal-bearing medium bearing one or more
instructions for generating self-guided hospital bed status
information. In an embodiment, an article of manufacture 602
includes a non-transitory signal-bearing medium bearing one or more
instructions for generating route-to-destination information based
on one or more target location inputs and the self-guided hospital
bed status information. In an embodiment, an article of manufacture
602 includes a non-transitory signal-bearing medium bearing one or
more instructions for generating one or more control commands for
navigating the self-guided hospital bed to a second position along
a travel route based on the route-to-destination information. In an
embodiment, an article of manufacture 602 includes a non-transitory
signal-bearing medium bearing one or more instructions for enabling
at least one of remote control, manual control, and automatic
control of at least one of a propulsion system, braking system, and
steering system of the self-guided hospital bed based on the
position, velocity, acceleration, bearing, direction,
rate-of-change of bearing, or rate-of-change of direction of the
self-guided hospital bed.
The claims, description, and drawings of this application may
describe one or more of the instant technologies in
operational/functional language, for example as a set of operations
to be performed by a computer. Such operational/functional
description in most instances can be specifically-configured
hardware (e.g., because a general purpose computer in effect
becomes a special purpose computer once it is programmed to perform
particular functions pursuant to instructions from program
software).
Importantly, although the operational/functional descriptions
described herein are understandable by the human mind, they are not
abstract ideas of the operations/functions divorced from
computational implementation of those operations/functions. Rather,
the operations/functions represent a specification for the
massively complex computational machines or other means. As
discussed in detail below, the operational/functional language must
be read in its proper technological context, i.e., as concrete
specifications for physical implementations.
The logical operations/functions described herein are a
distillation of machine specifications or other physical mechanisms
specified by the operations/functions such that the otherwise
inscrutable machine specifications may be comprehensible to the
human mind. The distillation also allows one of skill in the art to
adapt the operational/functional description of the technology
across many different specific vendors' hardware configurations or
platforms, without being limited to specific vendors' hardware
configurations or platforms.
Some of the present technical description (e.g., detailed
description, drawings, claims, etc.) may be set forth in terms of
logical operations/functions. As described in more detail in the
following paragraphs, these logical operations/functions are not
representations of abstract ideas, but rather representative of
static or sequenced specifications of various hardware elements.
Differently stated, unless context dictates otherwise, the logical
operations/functions are representative of static or sequenced
specifications of various hardware elements. This is true because
tools available to implement technical disclosures set forth in
operational/functional formats--tools in the form of a high-level
programming language (e.g., C, java, visual basic), etc.), or tools
in the form of Very high speed Hardware Description Language
("VHDL," which is a language that uses text to describe logic
circuits)--are generators of static or sequenced specifications of
various hardware configurations. This fact is sometimes obscured by
the broad term "software," but, as shown by the following
explanation, what is termed "software" is a shorthand for a
massively complex interchaining/specification of ordered-matter
elements. The term "ordered-matter elements" may refer to physical
components of computation, such as assemblies of electronic logic
gates, molecular computing logic constituents, quantum computing
mechanisms, etc.
For example, a high-level programming language is a programming
language with strong abstraction, e.g., multiple levels of
abstraction, from the details of the sequential organizations,
states, inputs, outputs, etc., of the machines that a high-level
programming language actually specifies. See, e.g., Wikipedia,
High-level programming language,
http://en.wikipedia.org/wiki/High-level_programming_language (as of
Jun. 5, 2012, 21:00 GMT). In order to facilitate human
comprehension, in many instances, high-level programming languages
resemble or even share symbols with natural languages. See, e.g.,
Wikipedia, Natural language,
http://en.wikipedia.org/wiki/Natural_language (as of Jun. 5, 2012,
21:00 GMT).
It has been argued that because high-level programming languages
use strong abstraction (e.g., that they may resemble or share
symbols with natural languages), they are therefore a "purely
mental construct." (e.g., that "software"--a computer program or
computer--programming--is somehow an ineffable mental construct,
because at a high level of abstraction, it can be conceived and
understood in the human mind). This argument has been used to
characterize technical description in the form of
functions/operations as somehow "abstract ideas." In fact, in
technological arts (e.g., the information and communication
technologies) this is not true.
The fact that high-level programming languages use strong
abstraction to facilitate human understanding should not be taken
as an indication that what is expressed is an abstract idea. In an
embodiment, if a high-level programming language is the tool used
to implement a technical disclosure in the form of
functions/operations, it can be understood that, far from being
abstract, imprecise, "fuzzy," or "mental" in any significant
semantic sense, such a tool is instead a near incomprehensibly
precise sequential specification of specific
computational--machines--the parts of which are built up by
activating/selecting such parts from typically more general
computational machines over time (e.g., clocked time). This fact is
sometimes obscured by the superficial similarities between
high-level programming languages and natural languages. These
superficial similarities also may cause a glossing over of the fact
that high-level programming language implementations ultimately
perform valuable work by creating/controlling many different
computational machines.
The many different computational machines that a high-level
programming language specifies are almost unimaginably complex. At
base, the hardware used in the computational machines typically
consists of some type of ordered matter (e.g., traditional
electronic devices (e.g., transistors), deoxyribonucleic acid
(DNA), quantum devices, mechanical switches, optics, fluidics,
pneumatics, optical devices (e.g., optical interference devices),
molecules, etc.) that are arranged to form logic gates. Logic gates
are typically physical devices that may be electrically,
mechanically, chemically, or otherwise driven to change physical
state in order to create a physical reality of Boolean logic.
Logic gates may be arranged to form logic circuits, which are
typically physical devices that may be electrically, mechanically,
chemically, or otherwise driven to create a physical reality of
certain logical functions. Types of logic circuits include such
devices as multiplexers, registers, arithmetic logic units (ALUs),
computer memory devices, etc., each type of which may be combined
to form yet other types of physical devices, such as a central
processing unit (CPU)--the best known of which is the
microprocessor. A modern microprocessor will often contain more
than one hundred million logic gates in its many logic circuits
(and often more than a billion transistors). See, e.g., Wikipedia,
Logic gates, http://en.wikipedia.org/wiki/Logic_gates (as of Jun.
5, 2012, 21:03 GMT).
The logic circuits forming the microprocessor are arranged to
provide a microarchitecture that will carry out the instructions
defined by that microprocessor's defined Instruction Set
Architecture. The Instruction Set Architecture is the part of the
microprocessor architecture related to programming, including the
native data types, instructions, registers, addressing modes,
memory architecture, interrupt and exception handling, and external
Input/Output. See, e.g., Wikipedia, Computer architecture,
http://en.wikipedia.org/wiki/Computer_architecture (as of Jun. 5,
2012, 21:03 GMT).
The Instruction Set Architecture includes a specification of the
machine language that can be used by programmers to use/control the
microprocessor. Since the machine language instructions are such
that they may be executed directly by the microprocessor, typically
they consist of strings of binary digits, or bits. For example, a
typical machine language instruction might be many bits long (e.g.,
32, 64, or 128 bit strings are currently common). A typical machine
language instruction might take the form
"11110000101011110000111100111111" (a 32 bit instruction).
It is significant here that, although the machine language
instructions are written as sequences of binary digits, in
actuality those binary digits specify physical reality. For
example, if certain semiconductors are used to make the operations
of Boolean logic a physical reality, the apparently mathematical
bits "1" and "0" in a machine language instruction actually
constitute a shorthand that specifies the application of specific
voltages to specific wires. For example, in some semiconductor
technologies, the binary number "1" (e.g., logical "1") in a
machine language instruction specifies around +5 volts applied to a
specific "wire" (e.g., metallic traces on a printed circuit board)
and the binary number "0" (e.g., logical "0") in a machine language
instruction specifies around -5 volts applied to a specific "wire."
In addition to specifying voltages of the machines' configuration,
such machine language instructions also select out and activate
specific groupings of logic gates from the millions of logic gates
of the more general machine. Thus, far from abstract mathematical
expressions, machine language instruction programs, even though
written as a string of zeros and ones, specify many, many
constructed physical machines or physical machine states.
Machine language is typically incomprehensible by most humans
(e.g., the above example was just ONE instruction, and some
personal computers execute more than two billion instructions every
second). See, e.g., Wikipedia, Instructions per second,
http://en.wikipedia.org/wiki/Instructions_per_second (as of Jun. 5,
2012, 21:04 GMT).
Thus, programs written in machine language--which may be tens of
millions of machine language instructions long--are
incomprehensible. In view of this, early assembly languages were
developed that used mnemonic codes to refer to machine language
instructions, rather than using the machine language instructions'
numeric values directly (e.g., for performing a multiplication
operation, programmers coded the abbreviation "mult," which
represents the binary number "011000" in MIPS machine code). While
assembly languages were initially a great aid to humans controlling
the microprocessors to perform work, in time the complexity of the
work that needed to be done by the humans outstripped the ability
of humans to control the microprocessors using merely assembly
languages.
At this point, it was noted that the same tasks needed to be done
over and over, and the machine language necessary to do those
repetitive tasks was the same. In view of this, compilers were
created. A compiler is a device that takes a statement that is more
comprehensible to a human than either machine or assembly language,
such as "add 2+2 and output the result," and translates that human
understandable statement into a complicated, tedious, and immense
machine language code (e.g., millions of 32, 64, or 128 bit length
strings). Compilers thus translate high-level programming language
into machine language.
This compiled machine language, as described above, is then used as
the technical specification which sequentially constructs and
causes the interoperation of many different computational machines
such that humanly useful, tangible, and concrete work is done. For
example, as indicated above, such machine language--the compiled
version of the higher-level language--functions as a technical
specification which selects out hardware logic gates, specifies
voltage levels, voltage transition timings, etc., such that the
humanly useful work is accomplished by the hardware.
Thus, a functional/operational technical description, when viewed
by one of skill in the art, is far from an abstract idea. Rather,
such a functional/operational technical description, when
understood through the tools available in the art such as those
just described, is instead understood to be a humanly
understandable representation of a hardware specification, the
complexity and specificity of which far exceeds the comprehension
of most any one human. Accordingly, any such operational/functional
technical descriptions may be understood as operations made into
physical reality by (a) one or more interchained physical machines,
(b) interchained logic gates configured to create one or more
physical machine(s) representative of sequential/combinatorial
logic(s), (c) interchained ordered matter making up logic gates
(e.g., interchained electronic devices (e.g., transistors), DNA,
quantum devices, mechanical switches, optics, fluidics, pneumatics,
molecules, etc.) that create physical reality representative of
logic(s), or (d) virtually any combination of the foregoing.
Indeed, any physical object which has a stable, measurable, and
changeable state may be used to construct a machine based on the
above technical description. Charles Babbage, for example,
constructed the first computer out of wood and powered by cranking
a handle.
Thus, far from being understood as an abstract idea, it can be
recognizes that a functional/operational technical description as a
humanly-understandable representation of one or more almost
unimaginably complex and time sequenced hardware instantiations.
The fact that functional/operational technical descriptions might
lend themselves readily to high-level computing languages (or
high-level block diagrams for that matter) that share some words,
structures, phrases, etc. with natural language simply cannot be
taken as an indication that such functional/operational technical
descriptions are abstract ideas, or mere expressions of abstract
ideas. In fact, as outlined herein, in the technological arts this
is simply not true. When viewed through the tools available to
those of skill in the art, such functional/operational technical
descriptions are seen as specifying hardware configurations of
almost unimaginable complexity.
As outlined above, the reason for the use of functional/operational
technical descriptions is at least twofold. First, the use of
functional/operational technical descriptions allows
near-infinitely complex machines and machine operations arising
from interchained hardware elements to be described in a manner
that the human mind can process (e.g., by mimicking natural
language and logical narrative flow). Second, the use of
functional/operational technical descriptions assists the person of
skill in the art in understanding the described subject matter by
providing a description that is more or less independent of any
specific vendor's piece(s) of hardware.
The use of functional/operational technical descriptions assists
the person of skill in the art in understanding the described
subject matter since, as is evident from the above discussion, one
could easily, although not quickly, transcribe the technical
descriptions set forth in this document as trillions of ones and
zeroes, billions of single lines of assembly-level machine code,
millions of logic gates, thousands of gate arrays, or any number of
intermediate levels of abstractions. However, if any such low-level
technical descriptions were to replace the present technical
description, a person of skill in the art could encounter undue
difficulty in implementing the disclosure, because such a low-level
technical description would likely add complexity without a
corresponding benefit (e.g., by describing the subject matter
utilizing the conventions of one or more vendor-specific pieces of
hardware). Thus, the use of functional/operational technical
descriptions assists those of skill in the art by separating the
technical descriptions from the conventions of any vendor-specific
piece of hardware.
In view of the foregoing, the logical operations/functions set
forth in the present technical description are representative of
static or sequenced specifications of various ordered-matter
elements, in order that such specifications may be comprehensible
to the human mind and adaptable to create many various hardware
configurations. The logical operations/functions disclosed herein
should be treated as such, and should not be disparagingly
characterized as abstract ideas merely because the specifications
they represent are presented in a manner that one of skill in the
art can readily understand and apply in a manner independent of a
specific vendor's hardware implementation.
At least a portion of the devices or processes described herein can
be integrated into an information processing system. An information
processing system generally includes one or more of a system unit
housing, a video display device, memory, such as volatile or
non-volatile memory, processors such as microprocessors or digital
signal processors, computational entities such as operating
systems, drivers, graphical user interfaces, and applications
programs, one or more interaction devices (e.g., a touch pad, a
touch screen, an antenna, etc.), or control systems including
feedback loops and control motors (e.g., feedback for detecting
position or velocity, control motors for moving or adjusting
components or quantities). An information processing system can be
implemented utilizing suitable commercially available components,
such as those typically found in data computing/communication or
network computing/communication systems.
Those having skill in the art will recognize that the state of the
art has progressed to the point where there is little distinction
left between hardware and software implementations of aspects of
systems; the use of hardware or software is generally (but not
always, in that in certain contexts the choice between hardware and
software can become significant) a design choice representing cost
vs. efficiency tradeoffs. Those having skill in the art will
appreciate that there are various vehicles by which processes or
systems or other technologies described herein can be effected
(e.g., hardware, software, firmware, etc., in one or more machines
or articles of manufacture), and that the preferred vehicle will
vary with the context in which the processes, systems, other
technologies, etc., are deployed. For example, if an implementer
determines that speed and accuracy are paramount, the implementer
may opt for a mainly hardware or firmware vehicle; alternatively,
if flexibility is paramount, the implementer may opt for a mainly
software implementation that is implemented in one or more machines
or articles of manufacture; or, yet again alternatively, the
implementer may opt for some combination of hardware, software,
firmware, etc. in one or more machines or articles of manufacture.
Hence, there are several possible vehicles by which the processes,
devices, other technologies, etc., described herein may be
effected, none of which is inherently superior to the other in that
any vehicle to be utilized is a choice dependent upon the context
in which the vehicle will be deployed and the specific concerns
(e.g., speed, flexibility, or predictability) of the implementer,
any of which may vary. In an embodiment, optical aspects of
implementations will typically employ optically-oriented hardware,
software, firmware, etc., in one or more machines or articles of
manufacture.
The herein described subject matter sometimes illustrates different
components contained within, or connected with, different other
components. It is to be understood that such depicted architectures
are merely examples, and that in fact, many other architectures can
be implemented that achieve the same functionality. In a conceptual
sense, any arrangement of components to achieve the same
functionality is effectively "associated" such that the desired
functionality is achieved. Hence, any two components herein
combined to achieve a particular functionality can be seen as
"associated with" each other such that the desired functionality is
achieved, irrespective of architectures or intermedial components.
Likewise, any two components so associated can also be viewed as
being "operably connected", or "operably coupled," to each other to
achieve the desired functionality, and any two components capable
of being so associated can also be viewed as being "operably
coupleable," to each other to achieve the desired functionality.
Specific examples of operably coupleable include, but are not
limited to, physically mateable, physically interacting components,
wirelessly interactable, wirelessly interacting components,
logically interacting, logically interactable components, etc.
In an embodiment, one or more components may be referred to herein
as "configured to," "configurable to," "operable/operative to,"
"adapted/adaptable," "able to," "conformable/conformed to," etc.
Such terms (e.g., "configured to") can generally encompass
active-state components, or inactive-state components, or
standby-state components, unless context requires otherwise.
The foregoing detailed description has set forth various
embodiments of the devices or processes via the use of block
diagrams, flowcharts, or examples. Insofar as such block diagrams,
flowcharts, or examples contain one or more functions or
operations, it will be understood by the reader that each function
or operation within such block diagrams, flowcharts, or examples
can be implemented, individually or collectively, by a wide range
of hardware, software, firmware in one or more machines or articles
of manufacture, or virtually any combination thereof. Further, the
use of "Start," "End," or "Stop" blocks in the block diagrams is
not intended to indicate a limitation on the beginning or end of
any functions in the diagram. Such flowcharts or diagrams may be
incorporated into other flowcharts or diagrams where additional
functions are performed before or after the functions shown in the
diagrams of this application. In an embodiment, several portions of
the subject matter described herein is implemented via Application
Specific Integrated Circuits (ASICs), Field Programmable Gate
Arrays (FPGAs), digital signal processors (DSPs), or other
integrated formats. However, some aspects of the embodiments
disclosed herein, in whole or in part, can be equivalently
implemented in integrated circuits, as one or more computer
programs running on one or more computers (e.g., as one or more
programs running on one or more computer systems), as one or more
programs running on one or more processors (e.g., as one or more
programs running on one or more microprocessors), as firmware, or
as virtually any combination thereof, and that designing the
circuitry or writing the code for the software and or firmware
would be well within the skill of one of skill in the art in light
of this disclosure. In addition, the mechanisms of the subject
matter described herein are capable of being distributed as a
program product in a variety of forms, and that an illustrative
embodiment of the subject matter described herein applies
regardless of the particular type of signal-bearing medium used to
actually carry out the distribution. Non-limiting examples of a
signal-bearing medium include the following: a recordable type
medium such as a floppy disk, a hard disk drive, a Compact Disc
(CD), a Digital Video Disk (DVD), a digital tape, a computer
memory, etc.; and a transmission type medium such as a digital or
an analog communication medium (e.g., a fiber optic cable, a
waveguide, a wired communications link, a wireless communication
link (e.g., transmitter, receiver, transmission logic, reception
logic, etc.), etc.).
While particular aspects of the present subject matter described
herein have been shown and described, it will be apparent to the
reader that, based upon the teachings herein, changes and
modifications can be made without departing from the subject matter
described herein and its broader aspects and, therefore, the
appended claims are to encompass within their scope all such
changes and modifications as are within the true spirit and scope
of the subject matter described herein. In general, terms used
herein, and especially in the appended claims (e.g., bodies of the
appended claims) are generally intended as "open" terms (e.g., the
term "including" should be interpreted as "including but not
limited to," the term "having" should be interpreted as "having at
least," the term "includes" should be interpreted as "includes but
is not limited to," etc.). Further, if a specific number of an
introduced claim recitation is intended, such an intent will be
explicitly recited in the claim, and in the absence of such
recitation no such intent is present. For example, as an aid to
understanding, the following appended claims may contain usage of
the introductory phrases "at least one" and "one or more" to
introduce claim recitations. However, the use of such phrases
should not be construed to imply that the introduction of a claim
recitation by the indefinite articles "a" or "an" limits any
particular claim containing such introduced claim recitation to
claims containing only one such recitation, even when the same
claim includes the introductory phrases "one or more" or "at least
one" and indefinite articles such as "a" or "an" (e.g., "a" and/or
"an" should typically be interpreted to mean "at least one" or "one
or more"); the same holds true for the use of definite articles
used to introduce claim recitations. In addition, even if a
specific number of an introduced claim recitation is explicitly
recited, such recitation should typically be interpreted to mean at
least the recited number (e.g., the bare recitation of "two
recitations," without other modifiers, typically means at least two
recitations, or two or more recitations). Furthermore, in those
instances where a convention analogous to "at least one of A, B,
and C, etc." is used, in general such a construction is intended in
the sense of the convention (e.g., "a system having at least one of
A, B, and C" would include but not be limited to systems that have
A alone, B alone, C alone, A and B together, A and C together, B
and C together, and/or A, B, and C together, etc.). In those
instances where a convention analogous to "at least one of A, B, or
C, etc." is used, in general such a construction is intended in the
sense of the convention (e.g., "a system having at least one of A,
B, or C" would include but not be limited to systems that have A
alone, B alone, C alone, A and B together, A and C together, B and
C together, and/or A, B, and C together, etc.). Typically a
disjunctive word or phrase presenting two or more alternative
terms, whether in the description, claims, or drawings, should be
understood to contemplate the possibilities of including one of the
terms, either of the terms, or both terms unless context dictates
otherwise. For example, the phrase "A or B" will be typically
understood to include the possibilities of "A" or "B" or "A and
B."
With respect to the appended claims, the operations recited therein
generally may be performed in any order. Also, although various
operational flows are presented in a sequence(s), it should be
understood that the various operations may be performed in orders
other than those that are illustrated, or may be performed
concurrently. Examples of such alternate orderings includes
overlapping, interleaved, interrupted, reordered, incremental,
preparatory, supplemental, simultaneous, reverse, or other variant
orderings, unless context dictates otherwise. Furthermore, terms
like "responsive to," "related to," or other past-tense adjectives
are generally not intended to exclude such variants, unless context
dictates otherwise.
While various aspects and embodiments have been disclosed herein,
other aspects and embodiments are contemplated. The various aspects
and embodiments disclosed herein are for purposes of illustration
and are not intended to be limiting, with the true scope and spirit
being indicated by the following claims.
* * * * *
References